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Communication dans un congrès

SynWoodScape: Synthetic Surround-view Fisheye Camera Dataset for Autonomous Driving

Abstract : 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 °field of view cover the 360 °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.
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https://hal-normandie-univ.archives-ouvertes.fr/hal-03749224
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Soumis le : mercredi 10 août 2022 - 15:30:44
Dernière modification le : samedi 13 août 2022 - 04:17:40

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2203.05056.pdf
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  • HAL Id : hal-03749224, version 1

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Ahmed Rida Sekkat, Yohan Dupuis, Varun Ravi Kumar, Hazem Rashed, Senthil Yogamani, et al.. SynWoodScape: Synthetic Surround-view Fisheye Camera Dataset for Autonomous Driving. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Oct 2022, Kyoto, Japan. ⟨hal-03749224⟩

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