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A synthetic digital city dataset for robustness and generalisation of depth estimation models

journal contribution
posted on 2024-02-01, 08:59 authored by Jihao LinJihao Lin, Jincheng HuJincheng Hu, Yanjun Huang, Zheng Chen, Bingzhao Gao, Jingjing JiangJingjing Jiang, Yuanjian ZhangYuanjian Zhang

Existing monocular depth estimation driving datasets are limited in the number of images and the diversity of driving conditions. The images of datasets are commonly in a low resolution and the depth maps are sparse. To overcome these limitations, we produce a Synthetic Digital City Dataset (SDCD) which was collected under 6 different weather driving conditions, and 6 common adverse perturbations caused by the data transmission. SDCD provides a total of 930K high-resolution RGB images and corresponding perfect observed depth maps. The evaluation shows that depth estimation models which are trained on SDCD provide a clearer, smoother, and more precise long-range depth estimation compared to those trained on one of the best-known driving datasets KITTI. Moreover, we provide a benchmark to investigate the performance of depth estimation models in different adverse driving conditions. 

Instead of collecting data from the real world, we generate the SDCD under severe driving conditions with perfect observed data in the digital world, enhancing depth estimation for autonomous driving.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

Scientific Data

Publisher

Nature Portfolio

Version

  • AM (Accepted Manuscript)

Acceptance date

2024-01-30

eISSN

2052-4463

Language

  • en

Depositor

Dr Jingjing Jiang. Deposit date: 30 January 2024

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