-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathnsavp.html
250 lines (245 loc) · 10.2 KB
/
nsavp.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
<!DOCTYPE HTML>
<!-- THE DOCTYPE tells the browser what type of webpage to render, the doctype used in this website is HTML5 which is the most recent HTML. -->
<html lang="en-US">
<head>
<meta charset="UTF-8">
<title>Dataset and Benchmark: Novel Sensors for Autonomous Vehicle Perception</title>
<meta name="description" content="Novel Sensors for Autonomous Vehicle Perception.">
<style>
.title{
font-family: Arial, Helvetica, sans-serif;
text-align:center;
margin-top:30pt;
margin-bottom:0pt;
margin-left: auto;
margin-right: auto;
color:#303030;
font-size:35pt;
font-weight:800;
letter-spacing:0pt;
max-width:1200px;
}
.subtitle{
font-family: Arial, Helvetica, sans-serif;
text-align:center;
margin-top:8pt;
margin-bottom:0;
margin-left: auto;
margin-right: auto;
max-width:1100px;
color:#303030;
font-size:30pt;
font-weight:500;
letter-spacing:0pt;
}
.section_title{
font-family: Arial, Helvetica, sans-serif;
text-align:left;
padding-left:25pt;
padding-right:25pt;
color:#181818;
font-size:25pt;
font-weight:500;
letter-spacing:0pt;
}
.subsection_title{
font-family: Arial, Helvetica, sans-serif;
text-align:left;
padding-left:25pt;
padding-right:25pt;
padding-top:25pt;
color:#504d4d;
font-size:20;
font-weight:500;
letter-spacing:0pt;
}
.body{
font-family: Arial, Helvetica, sans-serif;
color:#000000;
padding-right:25pt;
padding-left:25pt;
padding-bottom:25pt;
text-align:justify;
font-size:12pt;
font-weight:300;
letter-spacing:0pt;
line-height: 20pt;
}
.col{
font-family: Arial, Helvetica, sans-serif;
text-align: center;
float: left;
width: 16%;
color:#000000;
font-size:15pt;
font-weight:100;
letter-spacing:0pt;
height: 25pt;
}
.row{
margin-left: auto;
margin-right: auto;
}
.row:after {
content: "";
display: table;
clear: both;
}
.affiliation{
font-family: Arial, Helvetica, sans-serif;
text-align: center;
color:#000000;
font-size:13pt;
font-weight:100;
letter-spacing:0pt;
}
.contribution{
font-family: Arial, Helvetica, sans-serif;
text-align: center;
color:#000000;
font-size:10pt;
font-weight:100;
letter-spacing:0pt;
}
.publish{
font-family: Arial, Helvetica, sans-serif;
text-align: center;
color:#000000;
font-size:20pt;
font-weight:600;
letter-spacing:0pt;
}
.container{
margin-left:auto;
margin-right:auto;
margin-top: 5pt;
max-width:1200px
}
</style>
</head>
<body style="background-color:#ffffff;">
<div class="section">
<h1 class="title">Dataset and Benchmark: Novel Sensors for Autonomous Vehicle Perception</h1>
<!-- Author name-->
<div class="row">
<div class="col" style="font-weight: 200; height: auto; margin-bottom: -22pt; width: 16.66%;">
<p>Spencer Carmichael<sup>1</sup></p>
</div>
<div class="col" style="font-weight: 200; height: auto; margin-bottom: -22pt; width: 16.66%;">
<p>Austin Buchan<sup>1</sup></p>
</div>
<div class="col" style="font-weight: 200; height: auto; margin-bottom: -22pt; width: 16.66%;">
<p>Mani Ramanagopal<sup>1*</sup></p>
</div>
<div class="col" style="font-weight: 200; height: auto; margin-bottom: -22pt; width: 16.66%;">
<p>Radhika Ravi<sup>1*</sup></p>
</div>
<div class="col" style="font-weight: 200; height: auto; margin-bottom: -22pt; width: 16.66%;">
<p>Ram Vasudevan<sup>1,2</sup></p>
</div>
<div class="col" style="font-weight: 200; height: auto; margin-bottom: -22pt; width: 16.66%;">
<p>Katherine A. Skinner<sup>1</sup></p>
</div>
</div>
<!-- Mailbox -->
<div class="row">
<div class="col", style="font-size:10pt; width: 16.66%;">
<p>[email protected]</p>
</div>
<div class="col", style="font-size:10pt; width: 16.66%;">
<p>[email protected]</p>
</div>
<div class="col", style="font-size:10pt; width: 16.66%;">
<p>[email protected]</p>
</div>
<div class="col", style="font-size:10pt; width: 16.66%;">
<p>[email protected]</p>
</div>
<div class="col", style="font-size:10pt; width: 16.66%;">
<p>[email protected]</p>
</div>
<div class="col", style="font-size:10pt; width: 16.66%;">
<p>[email protected]</p>
</div>
</div>
<!-- Affiliation -->
<div class="contribution">
<p><sup>1</sup>Robotics Department, University of Michigan, Ann Arbor</p>
</div>
<div class="contribution">
<p><sup>2</sup>Department of Mechanical Engineering, University of Michigan, Ann Arbor</p>
</div>
<div class="contribution">
<p><sup>*</sup>Mani Ramanagopal and Radhika Ravi contributed to this work while employed at University of Michigan.</p>
</div>
<!-- Links -->
<div class="row" style="margin-left:auto; margin-right:auto; margin-top:10pt;max-width:800px;">
<div class="col" style="width: 25%; height: 60pt;">
<a href="https://arxiv.org/abs/2401.13853">
<img src="./web_elements/paper.png" height="75pt"/>
</a>
</div>
<div class="col" style="width: 25%; height: 60pt;">
<a href="https://github.com/umautobots/nsavp_tools">
<img src="./web_elements/github.png" height="75pt"/>
</a>
</div>
<div class="col" style="width: 25%; height: 60pt;">
<a href="https://deepblue.lib.umich.edu/data/collections/v118rf157">
<img src="./web_elements/database.png" height="75pt"/>
</a>
</div>
<div class="col" style="width: 25%; height: 60pt;">
<a href="https://sites.google.com/umich.edu/novelsensors2023">
<img src="./web_elements/workshop.png" height="75pt"/>
</a>
</div>
</div>
<!-- Link name -->
<div class="row" style="margin-left:auto; margin-right:auto; max-width:800px; line-height: 10pt;">
<div class="col" style="width: 25%; font-size:12pt; font-weight: 600;">
<p>Preprint</p>
</div>
<div class="col" style="width: 25%; font-size:12pt; font-weight: 600;">
<p>Documentation & Software Tools</p>
</div>
<div class="col" style="width: 25%; font-size:12pt; font-weight: 600;">
<p>Download</p>
</div>
<div class="col" style="width: 25%; font-size:12pt; font-weight: 600;">
<p>IROS 2023 Workshop</p>
</div>
</div>
</div>
<!-- Teaser Video -->
<div class="container" style="padding-top: 25pt;">
<center>
<video width="100%" id="nsavp_teaser" autoplay muted loop controls>
<source src="media/nsavp_teaser.mp4">
</video>
</center>
</div>
<!-- Overview -->
<div class="container">
<h2 class="section_title">Abstract</h2>
<p class="body">Conventional cameras employed in autonomous vehicle (AV) systems support many perception tasks, but are challenged by low-light or high dynamic range scenes, adverse weather, and fast motion. Novel sensors, such as event and thermal cameras, offer capabilities with the potential to address these scenarios, but they remain to be fully exploited. This paper introduces the Novel Sensors for Autonomous Vehicle Perception (NSAVP) dataset to facilitate future research on this topic. The dataset was captured with a platform including stereo event, thermal, monochrome, and RGB cameras as well as a high precision navigation system providing ground truth poses. The data was collected by repeatedly driving two ~8 km routes and includes varied lighting conditions and opposing viewpoint perspectives. We provide benchmarking experiments on the task of place recognition to demonstrate challenges and opportunities for novel sensors to enhance critical AV perception tasks. To our knowledge, the NSAVP dataset is the first to include stereo thermal cameras together with stereo event and monochrome cameras.
</p>
</div>
<!-- Citation -->
<div class="container">
<h2 class="section_title">Citation</h2>
<ul class="body" style="font-size: 10pt; line-height: 15pt;">
<ul style="padding-left:0"><div style="background-color:#e6e6e6;">
<p class="body" style="padding-left:0pt; font-size: 10pt;padding-bottom:0;text-indent:-3rem;margin-left:4rem;font-family:monospace;line-height: 1.2rem;">
@misc{nsavp2024, <br>
title={Dataset and Benchmark: Novel Sensors for Autonomous Vehicle Perception}, <br>
author={Spencer Carmichael and Austin Buchan and Mani Ramanagopal and Radhika Ravi and Ram Vasudevan and Katherine A. Skinner}, <br>
year={2024}, <br>
eprint={2401.13853}, <br>
archivePrefix={arXiv}, <br>
primaryClass={cs.RO}}
</div></li>
</ul>
</div>
</body>
</html>