V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving
| العنوان: | V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving |
|---|---|
| المؤلفون: | Yiming Li, Dekun Ma, Ziyan An, Zixun Wang, Yiqi Zhong, Siheng Chen, Chen Feng |
| سنة النشر: | 2022 |
| مصطلحات موضوعية: | FOS: Computer and information sciences, Human-Computer Interaction, Control and Optimization, Artificial Intelligence, Control and Systems Engineering, Computer Vision and Pattern Recognition (cs.CV), Mechanical Engineering, Biomedical Engineering, Computer Science - Computer Vision and Pattern Recognition, Computer Vision and Pattern Recognition, Computer Science Applications |
| الوصف: | Vehicle-to-everything (V2X) communication techniques enable the collaboration between vehicles and many other entities in the neighboring environment, which could fundamentally improve the perception system for autonomous driving. However, the lack of a public dataset significantly restricts the research progress of collaborative perception. To fill this gap, we present V2X-Sim, a comprehensive simulated multi-agent perception dataset for V2X-aided autonomous driving. V2X-Sim provides: (1) \hl{multi-agent} sensor recordings from the road-side unit (RSU) and multiple vehicles that enable collaborative perception, (2) multi-modality sensor streams that facilitate multi-modality perception, and (3) diverse ground truths that support various perception tasks. Meanwhile, we build an open-source testbed and provide a benchmark for the state-of-the-art collaborative perception algorithms on three tasks, including detection, tracking and segmentation. V2X-Sim seeks to stimulate collaborative perception research for autonomous driving before realistic datasets become widely available. Our dataset and code are available at \url{https://ai4ce.github.io/V2X-Sim/}. 2022 IEEE Robotics and Automation Letters (RA-L) (The extended abstract is presented at 2021 IEEE International Conference on Computer Vision (ICCV) Simulation Technology for Embodied AI Workshop) |
| اللغة: | English |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5e5f293147fbba7263583d340e1905f6 http://arxiv.org/abs/2202.08449 |
| Rights: | OPEN |
| رقم الانضمام: | edsair.doi.dedup.....5e5f293147fbba7263583d340e1905f6 |
| قاعدة البيانات: | OpenAIRE |
| الوصف غير متاح. |