SynWoodScape: Synthetic Surround-view Fisheye Camera Dataset for Autonomous Driving
| Autor: | Sekkat, Ahmed Rida, Dupuis, Yohan, Kumar, Varun Ravi, Rashed, Hazem, Yogamani, Senthil, Vasseur, Pascal, Honeine, Paul |
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| Rok vydání: | 2022 |
| Předmět: | |
| Zdroj: | IEEE Robotics and Automation Letters ( Volume: 7, Issue: 3, July 2022) |
| Druh dokumentu: | Working Paper |
| DOI: | 10.1109/LRA.2022.3188106 |
| Popis: | Surround-view cameras are a primary sensor for automated driving, used for near-field perception. It is one of the most commonly used sensors in commercial vehicles primarily used for parking visualization and automated parking. Four fisheye cameras with a 190{\deg} field of view cover the 360{\deg} around the vehicle. Due to its high radial distortion, the standard algorithms do not extend easily. Previously, we released the first public fisheye surround-view dataset named WoodScape. In this work, we release a synthetic version of the surround-view dataset, covering many of its weaknesses and extending it. Firstly, it is not possible to obtain ground truth for pixel-wise optical flow and depth. Secondly, WoodScape did not have all four cameras annotated simultaneously in order to sample diverse frames. However, this means that multi-camera algorithms cannot be designed to obtain a unified output in birds-eye space, which is enabled in the new dataset. We implemented surround-view fisheye geometric projections in CARLA Simulator matching WoodScape's configuration and created SynWoodScape. We release 80k images from the synthetic dataset with annotations for 10+ tasks. We also release the baseline code and supporting scripts. Comment: IEEE Robotics and Automation Letters (RA-L) and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). An initial sample of the dataset is released in https://drive.google.com/drive/folders/1N5rrySiw1uh9kLeBuOblMbXJ09YsqO7I |
| Databáze: | arXiv |
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