The DOI matches its Crossref record; 48 of the 48 references it cites were found in a registry or an index.
DSEC: A Stereo Event Camera Dataset for Driving Scenarios
Open accessAbstract
Once an academic venture, autonomous driving has received unparalleled corporate funding in the last decade. Still, operating conditions of current autonomous cars are mostly restricted to ideal scenarios. This means that driving in challenging illumination conditions such as night, sunrise, and sunset remains an open problem. In these cases, standard cameras are being pushed to their limits in terms of low light and high dynamic range performance. To address these challenges, we propose, DSEC, a new dataset that contains such demanding illumination conditions and provides a rich set of sensory data. DSEC offers data from a wide-baseline stereo setup of two color frame cameras and two high-resolution monochrome event cameras. In addition, we collect lidar data and RTK GPS measurements, both hardware synchronized with all camera data. One of the distinctive features of this dataset is the inclusion of high-resolution event cameras. Event cameras have received increasing attention for their high temporal resolution and high dynamic range performance. However, due to their novelty, event camera datasets in driving scenarios are rare. This work presents the first high resolution, large scale stereo dataset with event cameras. The dataset contains 53 sequences collected by driving in a variety of illumination conditions and provides ground truth disparity for the development and evaluation of event-based stereo algorithms.
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Cites
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The Cityscapes Dataset for Semantic Urban Scene Understanding
Cordts, M., Omran, M., Ramos, S., Rehfeld, T., Enzweiler, M., Benenson, R., Franke, U., Roth, S., & Schiele, B. (2016) · 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr.2016.350 · Cited by 12,433
nuScenes: A Multimodal Dataset for Autonomous Driving
Caesar, H., Bankiti, V., Lang, A. H., Vora, S., Liong, V. E., Xu, Q., Krishnan, A., Pan, Y., Baldan, G., & Beijbom, O. (2020) · 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr42600.2020.01164 · Cited by 7,152
Stereo Processing by Semiglobal Matching and Mutual Information
Hirschmuller, H. (2008) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2007.1166 · Cited by 4,195
Scalability in Perception for Autonomous Driving: Waymo Open Dataset
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Object modelling by registration of multiple range images
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BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning
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Gallego, G., Delbruck, T., Orchard, G., Bartolozzi, C., Taba, B., Censi, A., Leutenegger, S., Davison, A. J., Conradt, J., Daniilidis, K., et al. (2022) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2020.3008413 · Cited by 2,566
Self-citationRos, G., Sellart, L., Materzynska, J., Vazquez, D., & Lopez, A. M. (2016) · 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr.2016.352 · Cited by 2,338
Object scene flow for autonomous vehicles
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Metadata
- Authors
- Gehrig, M., Aarents, W., Gehrig, D., & Scaramuzza, D.
- Venue
- IEEE Robotics and Automation Letters
- Published
- 2021-07
- Volume
- 6
- Issue
- 3
- Pages
- 4947-4954
- ISSN
- 2377-3766
- 2377-3774
- OpenAlex
- W3139658937
- Cited by
- 428
- References
- 48
- FWCI
- 25.98
- Type
- journal article
- Language
- en
- Open access
- green
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- Gehrig, M., Aarents, W., Gehrig, D., & Scaramuzza, D. (2021). DSEC: A Stereo Event Camera Dataset for Driving Scenarios. IEEE Robotics and Automation Letters. https://doi.org/10.1109/lra.2021.3068942
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