BLVD: Building A Large-scale 5D Semantics Benchmark for Autonomous Driving

March 15, 2019 · Entered Twilight · 🏛 IEEE International Conference on Robotics and Automation

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Repo contents: 1.png, BLVD Building A Large-scale 5D Semantics Benchmark for Autonomous Driving.pdf, MatlabFunctionForLiDAR, README.md, calibration_data.zip, label_instruction.txt, utils.py

Authors Jianru Xue, Jianwu Fang, Tao Li, Bohua Zhang, Pu Zhang, Zhen Ye, Jian Dou arXiv ID 1903.06405 Category cs.CV: Computer Vision Cross-listed cs.RO Citations 62 Venue IEEE International Conference on Robotics and Automation Repository https://github.com/VCCIV/BLVD/ ⭐ 174 Last Checked 1 month ago

Abstract

In autonomous driving community, numerous benchmarks have been established to assist the tasks of 3D/2D object detection, stereo vision, semantic/instance segmentation. However, the more meaningful dynamic evolution of the surrounding objects of ego-vehicle is rarely exploited, and lacks a large-scale dataset platform. To address this, we introduce BLVD, a large-scale 5D semantics benchmark which does not concentrate on the static detection or semantic/instance segmentation tasks tackled adequately before. Instead, BLVD aims to provide a platform for the tasks of dynamic 4D (3D+temporal) tracking, 5D (4D+interactive) interactive event recognition and intention prediction. This benchmark will boost the deeper understanding of traffic scenes than ever before. We totally yield 249,129 3D annotations, 4,902 independent individuals for tracking with the length of overall 214,922 points, 6,004 valid fragments for 5D interactive event recognition, and 4,900 individuals for 5D intention prediction. These tasks are contained in four kinds of scenarios depending on the object density (low and high) and light conditions (daytime and nighttime). The benchmark can be downloaded from our project site https://github.com/VCCIV/BLVD/.