Hanyu Li

Haibao Yu, Yizhen Luo, Mao Shu et al.

Autonomous driving faces great safety challenges for a lack of global perspective and the limitation of long-range perception capabilities. It has been widely agreed that vehicle-infrastructure cooperation is required to achieve Level 5 autonomy. However, there is still NO dataset from real scenarios available for computer vision researchers to work on vehicle-infrastructure cooperation-related problems. To accelerate computer vision research and innovation for Vehicle-Infrastructure Cooperative Autonomous Driving (VICAD), we release DAIR-V2X Dataset, which is the first large-scale, multi-modality, multi-view dataset from real scenarios for VICAD. DAIR-V2X comprises 71254 LiDAR frames and 71254 Camera frames, and all frames are captured from real scenes with 3D annotations. The Vehicle-Infrastructure Cooperative 3D Object Detection problem (VIC3D) is introduced, formulating the problem of collaboratively locating and identifying 3D objects using sensory inputs from both vehicle and infrastructure. In addition to solving traditional 3D object detection problems, the solution of VIC3D needs to consider the temporal asynchrony problem between vehicle and infrastructure sensors and the data transmission cost between them. Furthermore, we propose Time Compensation Late Fusion (TCLF), a late fusion framework for the VIC3D task as a benchmark based on DAIR-V2X. Find data, code, and more up-to-date information at https://thudair.baai.ac.cn/index and https://github.com/AIR-THU/DAIR-V2X.

Xiaoqing Ye, Mao Shu, Hanyu Li et al.

Concurrent perception datasets for autonomous driving are mainly limited to frontal view with sensors mounted on the vehicle. None of them is designed for the overlooked roadside perception tasks. On the other hand, the data captured from roadside cameras have strengths over frontal-view data, which is believed to facilitate a safer and more intelligent autonomous driving system. To accelerate the progress of roadside perception, we present the first high-diversity challenging Roadside Perception 3D dataset- Rope3D from a novel view. The dataset consists of 50k images and over 1.5M 3D objects in various scenes, which are captured under different settings including various cameras with ambiguous mounting positions, camera specifications, viewpoints, and different environmental conditions. We conduct strict 2D-3D joint annotation and comprehensive data analysis, as well as set up a new 3D roadside perception benchmark with metrics and evaluation devkit. Furthermore, we tailor the existing frontal-view monocular 3D object detection approaches and propose to leverage the geometry constraint to solve the inherent ambiguities caused by various sensors, viewpoints. Our dataset is available on https://thudair.baai.ac.cn/rope.

Hanyu Li, Jingjing Li, Wei Wang

Underwater image enhancement algorithms have attracted much attention in underwater vision task. However, these algorithms are mainly evaluated on different data sets and different metrics. In this paper, we set up an effective and pubic underwater test dataset named U45 including the color casts, low contrast and haze-like effects of underwater degradation and propose a fusion adversarial network for enhancing underwater images. Meanwhile, the well-designed the adversarial loss including Lgt loss and Lfe loss is presented to focus on image features of ground truth, and image features of the image enhanced by fusion enhance method, respectively. The proposed network corrects color casts effectively and owns faster testing time with fewer parameters. Experiment results on U45 dataset demonstrate that the proposed method achieves better or comparable performance than the other state-of-the-art methods in terms of qualitative and quantitative evaluations. Moreover, an ablation study demonstrates the contributions of each component, and the application test further shows the effectiveness of the enhanced images.