Andreas Geiger and Philip Lenz Karlsruhe Institute of Technology Raquel Urtasun Toyota Technological Institute at Chicago

Introduction Challenges and Methodology Experimental Evaluation Conclusion and FutureWork

Sensor Calibration  Camera-to-Camera calibration.  Velodyne-to-Camera calibration.  GPS/IMU-to-Velodyne calibration.

Ground Truth  project the accumulated point clouds onto the image  Manually remove all ambiguous image regions

Benchmark Selection  visual odometry / SLAM  3D object detection and orientation

Evaluation Metrics

[45] M. Werlberger. Convex Approaches for High Performance Video Processing. phdthesis, Graz University of Technology, , 6 [46] K. Yamaguchi, T. Hazan, D. McAllester, and R. Urtasun. Continuous markov random fields for robust stereo estimation. In arXiv: v1, , 6

Visual Odometry/SLAM

3D Object Detection / Orientation Estimation

[11] C.-C. Chang and C.-J. Lin. LIBSVM: a library for support vector machines. Technical report, [36] C. E. Rasmussen and C. K. I. Williams. Gaussian Processes for Machine Learning. MIT Press,

We hope that the proposed benchmarks will complement others and help to reduce overfitting to datasets with little training or test examples As our recorded data provides more information than compiled into the benchmarks so far, our intention is to gradually increase their difficulties.

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