相关论文: KITTI-CARLA: a KITTI-like dataset generated by CAR…

An important factor in advancing autonomous driving systems is simulation. Yet, there is rather small progress for transferability between the virtual and real world. We revisit this problem for 3D object detection on LiDAR point clouds and…

Semantic segmentation on LiDAR imaging is increasingly gaining attention, as it can provide useful knowledge for perception systems and potential for autonomous driving. However, collecting and labeling real LiDAR data is an expensive and…

Paris-CARLA-3D is a dataset of several dense colored point clouds of outdoor environments built by a mobile LiDAR and camera system. The data are composed of two sets with synthetic data from the open source CARLA simulator (700 million…

The need for simulated data in autonomous driving applications has become increasingly important, both for validation of pretrained models and for training new models. In order for these models to generalize to real-world applications, it…

This paper introduces an updated version of the well-known Virtual KITTI dataset which consists of 5 sequence clones from the KITTI tracking benchmark. In addition, the dataset provides different variants of these sequences such as modified…

Simulators are indispensable for research in autonomous systems such as self-driving cars, autonomous robots, and drones. Despite significant progress in various simulation aspects, such as graphical realism, an evident gap persists between…

Data scarcity is a bottleneck to machine learning-based perception modules, usually tackled by augmenting real data with synthetic data from simulators. Realistic models of the vehicle perception sensors are hard to formulate in closed…

Stereo matching plays a crucial role in enabling depth perception for autonomous driving and robotics. While recent years have witnessed remarkable progress in stereo matching algorithms, largely driven by learning-based methods and…

For the last few decades, several major subfields of artificial intelligence including computer vision, graphics, and robotics have progressed largely independently from each other. Recently, however, the community has realized that…

With the continuous development of science and technology, self-driving vehicles will surely change the nature of transportation and realize the automotive industry's transformation in the future. Compared with self-driving cars,…

With the increasing global popularity of self-driving cars, there is an immediate need for challenging real-world datasets for benchmarking and training various computer vision tasks such as 3D object detection. Existing datasets either…

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

We introduce CARLA, an open-source simulator for autonomous driving research. CARLA has been developed from the ground up to support development, training, and validation of autonomous urban driving systems. In addition to open-source code…

When training object detection models on synthetic data, it is important to make the distribution of synthetic data as close as possible to the distribution of real data. We investigate specifically the impact of object placement…

Generating large-scale sensing datasets through photo-realistic simulation is an important aspect of many robotics applications such as autonomous driving. In this paper, we consider the problem of synchronous data collection from the…

The robustness of SLAM (Simultaneous Localization and Mapping) algorithms under challenging environmental conditions is critical for the success of autonomous driving. However, the real-world impact of such conditions remains largely…

We present a novel synthetically generated multi-modal dataset, SCaRL, to enable the training and validation of autonomous driving solutions. Multi-modal datasets are essential to attain the robustness and high accuracy required by…

Semantic grids are a useful representation of the environment around a robot. They can be used in autonomous vehicles to concisely represent the scene around the car, capturing vital information for downstream tasks like navigation or…

Autonomous driving simulations require highly realistic images. Our preliminary study found that when the CARLA Simulator image was made more like reality by using DCLGAN, the performance of the lane recognition model improved to levels…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…