WoodScape: A Multi-Task, Multi-Camera Fisheye Dataset for Autonomous Driving

Yogamani, Senthil; Witt, Christian; Rashed, Hazem; Nayak, Sanjaya; Mansoor, Saquib; Varley, Padraig; Perrotton, Xavier; O'Dea, Derek; Pérez, Patrick; Hughes, Ciáran; Horgan, Jonathan; Sistu, Ganesh; Chennupati, Sumanth; Uřičář, Michal; Milz, Stefan; Simón, Martín; Amende, Karl

doi:10.1109/iccv.2019.00940

Cited by 217 publications

(147 citation statements)

References 60 publications

(66 reference statements)

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“…Other commonly employed cameras in AVs for perception of the surroundings include fisheye cameras [ 52 , 53 , 54 ]. Fisheye cameras are commonly employed in near-field sensing applications, such as parking and traffic jam assistance, and require only four cameras to provide a 360-degree view of the surroundings.…”

Section: Sensor Technology In Autonomous Vehiclesmentioning

confidence: 99%

Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review

Yeong

Velasco-Hernandez

Barry

et al. 2021

Sensors

441

133

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With the significant advancement of sensor and communication technology and the reliable application of obstacle detection techniques and algorithms, automated driving is becoming a pivotal technology that can revolutionize the future of transportation and mobility. Sensors are fundamental to the perception of vehicle surroundings in an automated driving system, and the use and performance of multiple integrated sensors can directly determine the safety and feasibility of automated driving vehicles. Sensor calibration is the foundation block of any autonomous system and its constituent sensors and must be performed correctly before sensor fusion and obstacle detection processes may be implemented. This paper evaluates the capabilities and the technical performance of sensors which are commonly employed in autonomous vehicles, primarily focusing on a large selection of vision cameras, LiDAR sensors, and radar sensors and the various conditions in which such sensors may operate in practice. We present an overview of the three primary categories of sensor calibration and review existing open-source calibration packages for multi-sensor calibration and their compatibility with numerous commercial sensors. We also summarize the three main approaches to sensor fusion and review current state-of-the-art multi-sensor fusion techniques and algorithms for object detection in autonomous driving applications. The current paper, therefore, provides an end-to-end review of the hardware and software methods required for sensor fusion object detection. We conclude by highlighting some of the challenges in the sensor fusion field and propose possible future research directions for automated driving systems.

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Section: Sensor Technology In Autonomous Vehiclesmentioning

confidence: 99%

Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review

Yeong

Velasco-Hernandez

Barry

et al. 2021

Sensors

441

133

View full text Add to dashboard Cite

show abstract

“…The '-' symbol in table below indicates that the specifications were not mentioned in product datasheet. Other commonly employed cameras in AVs for perception of the surroundings include fisheye cameras [46][47][48]. Fisheye cameras are commonly employed in near-field sensing applications, such as parking and traffic jam assistance, and require only four cameras to provide a 360-degree view of the surroundings.…”

Section: Cameramentioning

confidence: 99%

Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review

Yeong¹,

Velasco-Hernandez²,

Barry³

et al. 2021

Preprint

132

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The market for autonomous vehicles (AV) is expected to experience significant growth over the coming decades and to revolutionize the future of transportation and mobility. The AV is a vehicle that is capable of perceiving its environment and perform driving tasks safely and efficiently with little or no human intervention and is anticipated to eventually replace conventional vehicles. Self-driving vehicles employ various sensors to sense and perceive their surroundings and, also rely on advances in 5G communication technology to achieve this objective. Sensors are fundamental to the perception of surroundings and the development of sensor technologies associated with AVs has advanced at a significant pace in recent years. Despite remarkable advancements, sensors can still fail to operate as required, due to for example, hardware defects, noise and environment conditions. Hence, it is not desirable to rely on a single sensor for any autonomous driving task. The practical approaches shown in recent research is to incorporate multiple, complementary sensors to overcome the shortcomings of individual sensors operating independently. This article reviews the technical performance and capabilities of sensors applicable to autonomous vehicles, mainly focusing on vision cameras, LiDAR and Radar sensors. The review also considers the compatibility of sensors with various software systems enabling the multi-sensor fusion approach for obstacle detection. This review article concludes by highlighting some of the challenges and possible future research directions.

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“…Many datasets from fisheye cameras are available in the literature, especially for autonomous driving. For instance, WoodScape, presented by Yogamani et al [19], is a dataset for 360 • sensing around a vehicle using four fisheye cameras (each with a 190 • horizontal FOV). WoodScape provides fisheye image data comprising over 10,000 images containing instance-level semantic annotation.…”

Section: • Videos Datasetsmentioning

confidence: 99%

A Dataset of Annotated Omnidirectional Videos for Distancing Applications

et al. 2021

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Omnidirectional (or 360°) cameras are acquisition devices that, in the next few years, could have a big impact on video surveillance applications, research, and industry, as they can record a spherical view of a whole environment from every perspective. This paper presents two new contributions to the research community: the CVIP360 dataset, an annotated dataset of 360° videos for distancing applications, and a new method to estimate the distances of objects in a scene from a single 360° image. The CVIP360 dataset includes 16 videos acquired outdoors and indoors, annotated by adding information about the pedestrians in the scene (bounding boxes) and the distances to the camera of some points in the 3D world by using markers at fixed and known intervals. The proposed distance estimation algorithm is based on geometry facts regarding the acquisition process of the omnidirectional device, and is uncalibrated in practice: the only required parameter is the camera height. The proposed algorithm was tested on the CVIP360 dataset, and empirical results demonstrate that the estimation error is negligible for distancing applications.

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WoodScape: A Multi-Task, Multi-Camera Fisheye Dataset for Autonomous Driving

Cited by 217 publications

References 60 publications

Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review

Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review

Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review

A Dataset of Annotated Omnidirectional Videos for Distancing Applications

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