Gamerdinger, Jörg (Eberhard Karls Universität Tübingen), Teufel, Sven (University of Tübingen), Schulz, Patrick (FZI Forschungszentrum Informatik), Amann, Stephan (University of Tuebingen), Kirchner, Jan-Patrick (University of Tübingen), Bringmann, Oliver (Eberhard Karls Universität Tübingen)

SCOPE: A Synthetic Multi-Modal Dataset for Collective Perception Including Physical-Correct Weather Conditions

Scheduled for presentation during the Regular Session "Multi-autonomous Vehicle Studies, Models, Techniques and Simulations I" (ThBT10), Thursday, September 26, 2024, 15:10−15:30, Salon 18

2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), September 24- 27, 2024, Edmonton, Canada

This information is tentative and subject to change. Compiled on December 26, 2024

Abstract

Collective perception has received considerable attention as a promising approach to overcome occlusions and limited sensing ranges of vehicle-local perception in autonomous driving. In order to develop and test novel collective perception technologies, appropriate datasets are required. These datasets must include not only different environmental conditions, as they strongly influence the perception capabilities, but also a wide range of scenarios with different road users as well as realistic sensor models. Therefore, we propose the Synthetic COllective PErception (SCOPE) dataset. SCOPE is the first synthetic multi-modal dataset that incorporates realistic camera and LiDAR models as well as parameterized and physically accurate weather simulations for both sensor types. The dataset contains 17,600 frames from over 40 diverse scenarios with up to 24 collaborative agents, infrastructure sensors, and passive traffic, including cyclists and pedestrians. In addition, recordings from two novel digital-twin maps from Karlsruhe and Tübingen are included. The dataset is available at https://ekut-es.github.io/scope