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2021 Smoky Mountains Conference Data Challenge Synthetic-to-Real Domain Adaptation for Autonomous Driving Dataset

  • Coletti, Mark | Oak Ridge National Laboratory
  • Chipka, Jordan | General Motors
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Overview

Description

The dataset is comprised of both real and synthetic images from a vehicle's forward-facing camera. Each camera image is accompanied by a corresponding pixel-level semantic segmentation image (all files are .png files). In total, the dataset contains 5600 images in the training/validation set and 1400 images in the testing set. The training dataset contains mostly synthetic RGB images collected with a wide range of weather and lighting conditions using the CARLA simulator [1]. In addition, the training data also includes a small pre-selected subset of data from the Cityscapes training dataset – which is comprised of RGB-segmentation image pairs from driving scenarios in various European cities [2]. The testing data is split into three sets. The first set contains synthetic CARLA images with weather/lighting conditions that were not present in the training set. The second set is a subset of the Cityscapes testing dataset. Finally, the third set is an unknown testing set which will not be revealed to the participants until after the submission deadline. [1] Dosovitskiy, A., Ros, G., Codevilla, F., Lopez, A., and Koltun, V. (2017, October). CARLA: An open urban driving simulator. In Conference on robot learning (pp. 1-16). PMLR. [2] Cordts, M., Omran, M., Ramos, S., Rehfeld, T., Enzweiler, M., Benenson, R., ... and Schiele, B. (2016). The cityscapes dataset for semantic urban scene understanding. In Proceedings of the IEEE conference on computer vision and pattern recognition (pp. 3213-3223).

Funding resources

DOE contract number

DE-AC05-00OR22725

Originating research organization

Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States);General Motors

Other contributing organizations

General Motors

Sponsoring organization

Office of Science (SC)

Details

DOI

10.13139/OLCF/1772569

Release date

March 26, 2021

Dataset

Dataset type

IP Still Images or Photos

Acknowledgements

Papers using this dataset are requested to include the following text in their acknowledgements:

*Support for 10.13139/OLCF/1772569 is provided by the U.S. Department of Energy, project GMAV under Contract DE-AC05-00OR22725. This research used resources of the Oak Ridge Leadership Computing Facility, which is a DOE Office of Science User Facility.

Category

  • 99 GENERAL AND MISCELLANEOUS

Keywords

  • autonomous driving,
  • computer vision,
  • semantic segmentation,
  • domain adaptation,
  • synthetic data