2022/02/17 by Yiming Li, Dekun Ma, Li, Yiming +10 · 21 citations
Computer Science · Engineering · #Advanced Neural Network Applications #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Vehicular Ad Hoc Networks (VANETs) #Video Surveillance and Tracking Methods
paper · pdf · doi:10.48550/arxiv.2202.08449
openalex publication_date 2022/02/17 · openalex created_date 2022/07/21 · openalex updated_date 2026/07/28
Vehicle-to-everything (V2X) communication techniques enable the collaboration between vehicles and many other entities in the neighboring environment, which could fundamentally improve the perception system for autonomous driving. However, the lack of a public dataset significantly restricts the research progress of collaborative perception. To fill this gap, we present V2X-Sim, a comprehensive simulated multi-agent perception dataset for V2X-aided autonomous driving. V2X-Sim provides: (1) \hlmulti-agent sensor recordings from the road-side unit (RSU) and multiple vehicles that enable collaborative perception, (2) multi-modality sensor streams that facilitate multi-modality perception, and (3) diverse ground truths that support various perception tasks. Meanwhile, we build an open-source testbed and provide a benchmark for the state-of-the-art collaborative perception algorithms on three tasks, including detection, tracking and segmentation. V2X-Sim seeks to stimulate collaborative perception research for autonomous driving before realistic datasets become widely available. Our dataset and code are available at \urlhttps://ai4ce.github.io/V2X-Sim/.