Vehicle Lane Merge Visual Benchmark

Dataset: Lane Merge Maneuver of Vehicles

• Use video data for 3D vehicle localization, GNSS-RTK for evaluation [1]

• Use GNSS-RTK and vision-based vehicle positions for learning cooperative maneuvers [3]

• 85 lane merges performed by human drivers on 7 recording days
• Temporally synchronized multi-view video streams (four cameras)
• Accurate camera calibration [1,5]
• Vehicle positions:
  • GNSS-RTK (see D5.2)
  • camera-based tracking and localization [1,4]

• Presentation at ICPR 2020/21
  Poster
  

• Supplementary video:
  https://youtu.be/tiPABhZoFEw

• Video data
  • 4 synchronized video streams, 1824x1536, mjpeg format
    
  • camera calibration
    
• Localization data
  • vehicle localization from GNSS-RTK
    
  • heading, speed, acceleration from in-vehicle measurements
    
  • camera-based localization

day01:  3 lane merges
video              calibration
localization_GNSS-RTK

day02:  12 lane merges
video              calibration
localization_GNSS-RTK

day03:  4 lane merges
video              calibration
localization_GNSS-RTK

day04:  16 lane merges
video              calibration
localization_GNSS-RTK

day05:  13 lane merges
video              calibration
localization_GNSS-RTK

day06:  27 lane merges
video              calibration
localization_GNSS-RTK

day07:  10 lane merges
video              calibration
localization_GNSS-RTK

VLMV Paper:

[1] K. Cordes and H. Broszio: "Vehicle Lane Merge Visual Benchmark", International Conference on Pattern Recognition (ICPR), IEEE, Jan. 2021, Paper at ieeexplore

Additional References:

[2] 5GCAR final demonstration (Video)

[3] O. Nassef, L. Sequeira, E. Salam, & T. Mahmoodi: "Building a Lane Merge Coordination for Connected Vehicles Using Deep Reinforcement Learning" , IEEE Internet of Things Journal, 2020

[4] K. Cordes, N.Nolte, N. Meine, and H. Broszio: "Accuracy Evaluation of Camera-based Vehicle Localization", International Conference on Connected Vehicles and Expo (ICCVE), IEEE, pp. 1-7, Nov. 2019, paper at ieeexplore

[5] K. Cordes and H. Broszio: "Constrained Multi Camera Calibration for Lane Merge Observation", International Conference on Computer Vision Theory and Applications (VISAPP), SciTePress, pp. 529-536, Feb. 2019, paper preprint (pdf)

[6] K. Cordes, H. Broszio, H Wymeersch, S Saur, F Wen, Nil Garcia, Hyowon Kim: "Radio‐Based Positioning and Video‐Based Positioning",
https://doi.org/10.1002/9781119692676.ch8, "Cellular V2X for Connected Automated Driving", Wiley, April 2021, Book Chapter at ieeexplore

Vehicle Lane Merge Visual Benchmark by VISCODA GmbH is licensed under CC BY-NC-SA 4.0.