Privately Owned Vehicle Work Group Meeting - 2024/12/15 - Slot 2

[m-zain-khawaja]

Agenda

• Update on SuperDepth Dataset
• Combining PathDet and DiversionDet networks in AutoSeg
• Data curation update related to new PathDet network

Discussion

Update on SuperDepth dataset download, preparation and curation

• MUAD - 3,912 training data samples
• UrbanSyn - 6,732 training data samples
• KITTI - 4,325 training data samples
• Driving Stereo (found to be not suitable)
• Argoverse - 1,106 training data samples
• MUSES - 2,500 training data samples
• DDAD (unsupported - issue raised with maintainers)
• BOREAS (found to be not suitable)
• GTAV-TeFS (downloaded, parsing in progress)

SuperDepth Training Paradigm

Proposal by @m-zain-khawaja to follow the training methodology of DepthAnything V2 which utilizes a multi-stage training process - the first network stage is trained using 100% simulation data, and this pre-trained network is then used to help generate pseudo-labels on real-world images to help close the sim-to-real domain gap. We can review network performance after the first stage on real-world data to assess the domain gap and use lidar supervision to help enhance pseudo-labels in stage 2.

To further supplement the simulation datasets (MUAD and UrbanSyn) the following GTA V based stereo vision simulation dataset will be parsed and processed, resulting in an additional 20K simulation-based training samples.

PathDet dataset curation

• TuSimple - 6,394 training data samples
• CULane - (downloaded, parsing in progress)
• CurveLane
• BDD100K
• ROADWorks

Pull request has been successfully merged for the parsing of the TuSimple dataset as part of PathDet dataset curation by @TranHuuNhatHuy

Work is now underway for processing and parsing CULane, BDD100K and ROADWorks - with aim for @TranHuuNhatHuy to complete CULane parsing this week.

Attendees

• @m-zain-khawaja (Senior Tech Lead at AWF and Privately Owned Vehicle Work Group Chair)
• @TranHuuNhatHuy (Masters Robotics Student at Tokyo Institute of Technology)
• Armagan Arslan (Vice Chair of Strategic Planning Committee at AWF and CEO at LeoDrive)
• Mohammad Musa (Chair of Safety Assurance WG at AWF and CEO of DeepenAI)
• David Walmroth (Co-Chair of OpenADKit Work Group at AWF and US Director of Business and Project Development at PIX Moving)
• Sarun Mukdapitak (Undergraduate student at Nagoya University)
• Sergey Christ (CEO bei Alternative Embedded Innovation)
• Sohel Mahmud (Senior Computer Vision and Machine Learning Engineer)
• Atanasko Boris Mitrev (Innovation R&D EXO Service Solutions)
• Gabriel Toffanetto (Masters Student at Universidade Estadual de Campinas)

Zoom Meeting Video Recording

Video Meeting Link
Please contact the work group lead (@m-zain-khawaja ) to request access to a recording of this meeting.