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Interest point detectors stability evaluation on ApolloScape dataset [article]

Jacek Komorowski, Konrad Czarnota, Tomasz Trzcinski, Lukasz Dabala, Simon Lynen
2018 arXiv   pre-print
To this end, we evaluate stability of a number of hand crafted and recent, learning-based interest point detectors on the street-level view ApolloScape dataset.  ...  In this paper we verify if the recent, deep-learning based interest point detectors have the advantage over the traditional, hand-crafted keypoint detectors.  ...  Acknowledgement This research was supported by Google Sponsor Research Agreement under the project "Efficient visual localization on mobile devices".  ... 
arXiv:1809.11039v1 fatcat:srbhj4mcfzgtfiwtailij64zaa

Interest Point Detectors Stability Evaluation on ApolloScape Dataset [chapter]

Jacek Komorowski, Konrad Czarnota, Tomasz Trzcinski, Lukasz Dabala, Simon Lynen
2019 Lecture Notes in Computer Science  
To this end, we evaluate stability of a number of hand crafted and recent, learning-based interest point detectors on the street-level view ApolloScape dataset.  ...  In this paper we verify if the recent, deep-learning based interest point detectors have the advantage over the traditional, hand-crafted keypoint detectors.  ...  Acknowledgement This research was supported by Google Sponsor Research Agreement under the project "Efficient visual localization on mobile devices".  ... 
doi:10.1007/978-3-030-11021-5_45 fatcat:hyhk7g6p5vemzmjvpoyrug6gxu

Robust Learning Through Cross-Task Consistency [article]

Amir Zamir, Alexander Sax, Teresa Yeo, Oğuzhan Kar, Nikhil Cheerla, Rohan Suri, Zhangjie Cao, Jitendra Malik, Leonidas Guibas
2020 arXiv   pre-print
The evaluations are performed on multiple datasets, including Taskonomy, Replica, CocoDoom, and ApolloScape, and they benchmark cross-task consistency versus various baselines including conventional multi-task  ...  The proposed formulation is based on inference-path invariance over a graph of arbitrary tasks.  ...  Consistency Energy as a Domain Shift Detector: Plot 8(c) shows the energy distribution of in-distribution (Taskonomy) and out-of-distribution datasets (ApolloScape, CocoDoom).  ... 
arXiv:2006.04096v1 fatcat:uuk7yaowtfgljk6bcoivo5oi6u

JRDB: A Dataset and Benchmark of Egocentric Visual Perception for Navigation in Human Environments [article]

Roberto Martín-Martín, Mihir Patel, Hamid Rezatofighi, Abhijeet Shenoi, JunYoung Gwak, Eric Frankel, Amir Sadeghian, Silvio Savarese
2020 arXiv   pre-print
The dataset includes 64 minutes of annotated multimodal sensor data including stereo cylindrical 360^∘ RGB video at 15 fps, 3D point clouds from two Velodyne 16 Lidars, line 3D point clouds from two Sick  ...  With this dataset, which we plan on extending with further types of annotation in the future, we hope to provide a new source of data and a test-bench for research in the areas of egocentric robot vision  ...  EVALUATION In this section, we evaluate the performance of several state-of-theart/popular approaches for detection and tracking on the egocentric data of the JRDB dataset.  ... 
arXiv:1910.11792v2 fatcat:wquzzegmznh2vasn2z3trkugsq

VIL-100: A New Dataset and A Baseline Model for Video Instance Lane Detection [article]

Yujun Zhang, Lei Zhu, Wei Feng, Huazhu Fu, Mingqian Wang, Qingxia Li, Cheng Li, Song Wang
2021 arXiv   pre-print
Experiments on the new collected dataset show that the proposed MMA-Net outperforms state-of-the-art lane detection methods and video object segmentation methods.  ...  While car cameras always take streaming videos on the way, current lane detection works mainly focus on individual images (frames) by ignoring dynamics along the video.  ...  BDD100K and ApolloScape are two large-scale video datasets for driving.  ... 
arXiv:2108.08482v1 fatcat:oplr3wbjt5fbhlltdsp7bovapi

Deep Learning on Monocular Object Pose Detection and Tracking: A Comprehensive Overview [article]

Zhaoxin Fan, Yazhi Zhu, Yulin He, Qi Sun, Hongyan Liu, Jun He
2022 arXiv   pre-print
Comparative results of current state-of-the-art methods on several publicly available datasets are also presented, together with insightful observations and inspiring future research directions.  ...  In our work, metrics, datasets, and methods of both detection and tracking are presented in detail.  ...  While existing (RGB)D-based methods are all evaluated on datasets with dense point clouds generated from depth maps, their performances on sparse point clouds are under explored, and this has caused a  ... 
arXiv:2105.14291v2 fatcat:2kxd4owthvf7tbcbnlqlqu4r3m

Image Matching from Handcrafted to Deep Features: A Survey

Jiayi Ma, Xingyu Jiang, Aoxiang Fan, Junjun Jiang, Junchi Yan
2020 International Journal of Computer Vision  
In addition, we also provide a comprehensive and objective comparison of these classical and latest techniques through extensive experiments on representative datasets.  ...  Following the feature-based image matching pipeline, we first introduce feature detection, description, and matching techniques from handcrafted methods to trainable ones and provide an analysis of the  ...  Komorowski et al. (2018) provided a stability evaluation for handcrafted and learning-based interest point detectors on ApolloScape street dataset .  ... 
doi:10.1007/s11263-020-01359-2 fatcat:a2epfaolwjfm5mcrsmn7g6sd7m

Computer Vision for Autonomous Vehicles: Problems, Datasets and State of the Art [article]

Joel Janai, Fatma Güney, Aseem Behl, Andreas Geiger
2021 arXiv   pre-print
This book attempts to narrow this gap by providing a survey on the state-of-the-art datasets and techniques.  ...  While several survey papers on particular sub-problems have appeared, no comprehensive survey on problems, datasets, and methods in computer vision for autonomous vehicles has been published.  ...  [230] compare generic object detectors on the popular GTSDB dataset.  ... 
arXiv:1704.05519v3 fatcat:xiintiarqjbfldheeg2hsydyra

Toward a Computer Vision Perspective on the Visual Impact of Vegetation in Symmetries of Urban Environments

Salma Samiei, Pejman Rasti, Hervé Daniel, Etienne Belin, Paul Richard, David Rousseau
2018 Symmetry  
There are a lot of researches on ecological, architectural or aesthetic points of view to address this issue.  ...  We statistically evaluate the correlations of the amount of vegetation with objective computer vision traits such as Fourier domain, color histogram, and estimated depth from monocular view.  ...  applied on RGB images [46] WildDash [50] 70 -Mapillary [51] 25,000 -ApolloScape [47] 140,000 survey-grade dense 3D point cloud We propose the virtual RGBD green-city dataset provided as Supplementary  ... 
doi:10.3390/sym10120666 fatcat:brylx5vlrzbb3dehskqd4ah2je

Efficient Deep Neural Networks [article]

Bichen Wu
2019 arXiv   pre-print
Data efficiency: we developed an advanced tool that enables 6.2x faster annotation of a LiDAR point cloud.  ...  This dissertation focuses on the above problems and improving the efficiency of deep neural networks at four levels.  ...  Together with the paper, we also open-sourced the code to train, evaluate, and run SqueezeDet models on KITTI [33] and new datasets.  ... 
arXiv:1908.08926v1 fatcat:qqcpeueypbdydmc3jfvx3lseqy

The MODISSA testbed: a multi-purpose platformfor the prototypical realization of vehicle-relatedapplications using optical sensors

Björn Borgmann, Volker Schatz, Marcus Hammer, Marcus Hebel, Michael Arens, Uwe Stilla
2021 Applied Optics  
data analysis, and immediate visualization on in-car displays.  ...  We present the current state of development of the sensor-equipped car MODISSA, with which Fraunhofer IOSB realizes a configurable experimental platform for hardware evaluation and software development  ...  DISCLOSURES The authors declare no conflicts of interest.  ... 
doi:10.1364/ao.423599 pmid:34612862 fatcat:2djaotjzwbd3ndcai2h6zkjgjy

A Critical Analysis of Image-based Camera Pose Estimation Techniques [article]

Meng Xu, Youchen Wang, Bin Xu, Jun Zhang, Jian Ren, Stefan Poslad, Pengfei Xu
2022 arXiv   pre-print
Furthermore, we summarise what are the popular datasets used for camera localization and compare the quantitative and qualitative results of these methods with detailed performance metrics.  ...  In this survey, we first introduce specific application areas and the evaluation metrics for camera localization pose according to different sub-tasks (learning-based 2D-2D task, feature-based 2D-3D task  ...  SuperPoint [66] , created a large dataset of pseudo-ground truth interest point locations in real images, supervised by the interest point detector itself.  ... 
arXiv:2201.05816v1 fatcat:5wskhyskivh5bh67icaj3pc5i4

Vehicle Telematics Via Exteroceptive Sensors: A Survey [article]

Fernando Molano Ortiz, Matteo Sammarco, Luís Henrique M. K. Costa, Marcin Detyniecki
2020 arXiv   pre-print
For each of them, we report the most recent and important works relying on exteroceptive sensors, as long as the available datasets.  ...  Then, we review in detail all exteroceptive sensors of some interest for vehicle telematics, highlighting advantages, drawbacks, and availability in off-the-shelf devices.  ...  The system uses a linearly scanning method to evaluate the GLCM approach. To test the approach, marks are introduced using a vision dataset [96] .  ... 
arXiv:2008.12632v1 fatcat:lwzwvdldnbbmhlkwsjzipowfly

Zeus: A System Description of the Two-Time Winner of the Collegiate SAE AutoDrive Competition [article]

Keenan Burnett, Jingxing Qian, Xintong Du, Linqiao Liu, David J. Yoon, Tianchang Shen, Susan Sun, Sepehr Samavi, Michael J. Sorocky, Mollie Bianchi, Kaicheng Zhang, Arkady Arkhangorodsky (+5 others)
2020 arXiv   pre-print
This includes details on the team's organizational structure, sensor suite, software components, and performance at the Year 2 competition.  ...  We trained our model on the large BDD100k dataset and tested on BDD's evaluation set (Yu et al., 2018) .  ...  Other self-driving datasets include the Oxford Robotcar dataset (Maddern et al., 2017) , the ApolloScape dataset (Huang et al., 2018) , and NuScenes .  ... 
arXiv:2004.08752v1 fatcat:jm4os5mzirf7jaogd7a76nrvkq

A Survey of Autonomous Driving: Common Practices and Emerging Technologies [article]

Ekim Yurtsever, Jacob Lambert, Alexander Carballo, Kazuya Takeda
2020 arXiv   pre-print
The paper concludes with an overview of available datasets and tools for ADS development.  ...  Furthermore, the state-of-the-art was implemented on our own platform and various algorithms were compared in a real-world driving setting.  ...  State-ofthe-art algorithms are currently being evaluated on the KITTI dataset [174] and nuScenes dataset [175] as they offer labeled 3D scenes.  ... 
arXiv:1906.05113v2 fatcat:2hqztllrgjhndbc5aebduvukai
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