-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathindex.html
333 lines (285 loc) · 15.2 KB
/
index.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
<!DOCTYPE html>
<html lang="en">
<!-- Head -->
<head> <!-- Metadata, OpenGraph and Schema.org -->
<!-- Standard metadata -->
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<title>EvTTC Benchmark </title>
<meta name="author" content="EvTTC Benchmark " />
<meta name="description" content="An Event Camera Dataset for Time-to-Collision Estimation.
" />
<meta name="keywords" content="EvTTC Benchmark, Event-based, Multi-Sensor, Dataset" />
<!-- OpenGraph -->
<meta property="og:site_name" content="EvTTC Benchmark " />
<meta property="og:type" content="website" />
<meta property="og:title" content="EvTTC Benchmark | Home" />
<meta property="og:url" content="http://localhost:5500/EvTTC/" />
<meta property="og:description" content="An Event Camera Dataset for Time-to-Collision Estimation.
" />
<meta property="og:locale" content="en" />
<!-- Twitter card -->
<meta name="twitter:card" content="summary" />
<meta name="twitter:title" content="Home" />
<meta name="twitter:description" content="An Event Camera Dataset for Time-to-Collision Estimation.
" />
<!-- Schema.org -->
<script type="application/ld+json">
{
"author":
{
"@type": "Person",
"name": "EvTTC Benchmark "
},
"url": "http://localhost:5500/EvTTC/",
"@type": "WebSite",
"description": "An Event Camera Dataset for Time-to-Collision Estimation.
",
"headline": "Home",
"sameAs": ["https://nail-hnu.github.io/EvTTC/", "https://sites.google.com/view/zhouyi-joey/home"],
"name": "EvTTC Benchmark ",
"@context": "https://schema.org"
}
</script>
<!-- Bootstrap & MDB -->
<link href="https://cdn.jsdelivr.net/npm/bootstrap@4.6.1/dist/css/bootstrap.min.css" rel="stylesheet" integrity="sha256-DF7Zhf293AJxJNTmh5zhoYYIMs2oXitRfBjY+9L//AY=" crossorigin="anonymous">
<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/mdbootstrap@4.20.0/css/mdb.min.css" integrity="sha256-jpjYvU3G3N6nrrBwXJoVEYI/0zw8htfFnhT9ljN3JJw=" crossorigin="anonymous" />
<!-- Fonts & Icons -->
<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/@fortawesome/fontawesome-free@5.15.4/css/all.min.css" integrity="sha256-mUZM63G8m73Mcidfrv5E+Y61y7a12O5mW4ezU3bxqW4=" crossorigin="anonymous">
<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/academicons@1.9.1/css/academicons.min.css" integrity="sha256-i1+4qU2G2860dGGIOJscdC30s9beBXjFfzjWLjBRsBg=" crossorigin="anonymous">
<link rel="stylesheet" type="text/css" href="https://fonts.googleapis.com/css?family=Roboto:300,400,500,700|Roboto+Slab:100,300,400,500,700|Material+Icons">
<!-- Code Syntax Highlighting -->
<link rel="stylesheet" href="https://cdn.jsdelivr.net/gh/jwarby/jekyll-pygments-themes@master/PASTIE.css" media="none" id="highlight_theme_light" />
<!-- Styles -->
<link rel="shortcut icon" href="/EvTTC/assets/img/nail.png"/>
<link rel="stylesheet" href="/EvTTC/assets/css/main.css">
<link rel="canonical" href="http://localhost:5500/EvTTC/">
<!-- Dark Mode -->
</head>
<!-- Body -->
<body class="fixed-top-nav ">
<!-- Header -->
<header>
<!-- Nav Bar -->
<nav id="navbar" class="navbar navbar-light navbar-expand-sm fixed-top">
<div class="container">
<!-- Navbar Toggle -->
<button class="navbar-toggler collapsed ml-auto" type="button" data-toggle="collapse" data-target="#navbarNav" aria-controls="navbarNav" aria-expanded="false" aria-label="Toggle navigation">
<span class="sr-only">Toggle navigation</span>
<span class="icon-bar top-bar"></span>
<span class="icon-bar middle-bar"></span>
<span class="icon-bar bottom-bar"></span>
</button>
<div class="collapse navbar-collapse text-right" id="navbarNav">
<ul class="navbar-nav ml-auto flex-nowrap">
<!-- Home -->
<li class="nav-item active">
<a class="nav-link" href="/EvTTC/">Home<span class="sr-only">(current)</span></a>
</li>
<!-- Other pages -->
<li class="nav-item dropdown ">
<a class="nav-link dropdown-toggle" href="#" id="navbarDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">About</a>
<div class="dropdown-menu dropdown-menu-right" aria-labelledby="navbarDropdown">
<a class="dropdown-item" href="/EvTTC/about/sensor/">Sensor Suite</a>
<div class="dropdown-divider"></div>
<a class="dropdown-item" href="/EvTTC/about/synchronization/">Synchronization</a>
<div class="dropdown-divider"></div>
<a class="dropdown-item" href="/EvTTC/about/ground_truth/">Ground Truth</a>
</div>
</li>
<li class="nav-item ">
<a class="nav-link" href="/EvTTC/calibration/">Calibration</a>
</li>
<li class="nav-item dropdown ">
<a class="nav-link dropdown-toggle" href="#" id="navbarDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Download</a>
<div class="dropdown-menu dropdown-menu-right" aria-labelledby="navbarDropdown">
<a class="nav-link" href="/EvTTC/download/download/">Download</a>
<a class="nav-link" href="/EvTTC/download/data_format/">Data Format</a>
</div>
</li>
<li class="nav-item ">
<a class="nav-link" href="/EvTTC/competition/">Competition</a>
</li>
<li class="nav-item dropdown ">
<a class="nav-link dropdown-toggle" href="#" id="navbarDropdown" role="button" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">Contact Us</a>
<div class="dropdown-menu dropdown-menu-right" aria-labelledby="navbarDropdown">
<a class="dropdown-item" href="https://github.com/NAIL-HNU/evttc_dataset/issues" target="_blank" rel="noopener noreferrer">Dataset Issue</a>
<a class="dropdown-item" href="/EvTTC/submit/">Submit Results</a>
</div>
</li>
</ul>
</div>
</div>
</nav>
</header>
<!-- Content -->
<div class="container mt-5">
<!-- home.html -->
<div class="post">
<header class="post-header">
<h1 class="post-title">
<span class="font-weight-bold">EvTTC Benchmark</span>
</h1>
<p class="desc">An Event Camera Dataset for Time-to-Collision Estimation</p>
</header>
<article>
<div class="clearfix">
<p><br></p>
<p><img src="/EvTTC/assets/img/web_header.png" alt="sensor" style="max-width:100%;"></p>
<p><br></p>
<p>We present an event camera dataset, called EvTTC, for the task of time-to-collision estimation in autonomous driving:</p>
<ul>
<li>A diverse set of sequences featuring various targets,
such as real vehicles, inflatable vehicles, and dummies,
across a wide range of relative speeds, including both
routine and challenging situations.</li>
<li>A low-cost and small-scale TTC testbed that facilitates
the generation of quasi-real data at different relative
speeds. The design of the testbed is open-source.</li>
<li>A specific benchmark for the TTC task that can serve
as an evaluation platform for the community to test and
compare different TTC estimation methods.</li>
</ul>
<p><br></p>
</div>
<!-- News -->
<div class="news">
<h2>News</h2>
<div class="table-responsive">
<table class="table table-sm table-borderless">
<tr>
<th scope="row">Dec. 5, 2024</th>
<td>
Watch our video on <a href="https://www.youtube.com/watch?v=qJC016GK888" target="_blank" rel="noopener noreferrer">Youtube</a>.
</td>
</tr>
<tr>
<th scope="row">Nov. 5, 2024</th>
<td>
EvTTC Benchmark goes live!
</td>
</tr>
</table>
</div>
</div>
<!-- Selected papers -->
<div class="publications">
<h2>BibTeX</h2>
Please cite the following publication when using this benchmark in an academic context:
<pre>
<code>
@misc{sun2024aneventcameradatasetfortime-to-collisionestion,
title = {EvTTC: An Event Camera Dataset for Time-to-Collision Estimation},
author = {Kaizhen Sun and Jinghang Li and Kuan Dai and Bangyan Liao and Wei Xiong and Yi Zhou},
year = 2024,
eprint = {2412.05053},
archiveprefix = {arXiv},
primaryclass = {cs.CV}
}
</code>
</pre>
<ol class="bibliography"><li>
<!-- _layouts/bib.html -->
<div class="row">
<!-- Links/Buttons -->
<div class="links">
<a class="abstract btn btn-sm z-depth-0" role="button">Abs</a>
<a href="https://arxiv.org/pdf/2412.05053" class="btn btn-sm z-depth-0" role="button" target="_blank" rel="noopener noreferrer">arXiv</a>
<a href="https://youtu.be/qJC016GK888" class="btn btn-sm z-depth-0" role="button" target="_blank" rel="noopener noreferrer">VIDEO</a>
<!-- <a href="/EvTTC/assets/pdf/supplementary_material.pdf" class="btn btn-sm z-depth-0" role="button">Supp</a> -->
</div>
<!-- Hidden abstract block -->
<div class="abstract hidden">
<p>Time-to-Collision (TTC) estimation lies in the
core of the forward collision warning (FCW) functionality,
which is key to all Automatic Emergency Braking (AEB)
systems. Although the success of solutions using frame-based
cameras (e.g., Mobileye’s solutions) has been witnessed in
normal situations, some extreme cases, such as the sudden
variation in the relative speed of leading vehicles and the sudden
appearance of pedestrians, still pose significant risks that cannot
be handled. This is due to the inherent imaging principles of
frame-based cameras, where the time interval between adjacent
exposures introduces considerable system latency to AEB.
Event cameras, as a novel bio-inspired sensor, offer ultra-high
temporal resolution and can asynchronously report brightness
changes at the microsecond level. To explore the potential
of event cameras in the above-mentioned challenging cases,
we propose EvTTC, which is, to the best of our knowledge,
the first multi-sensor dataset focusing on TTC tasks under
high-relative-speed scenarios. EvTTC consists of data collected
using standard cameras and event cameras, covering various
potential collision scenarios in daily driving and involving
multiple collision objects. Additionally, LiDAR and GNSS/INS
measurements are provided for the calculation of ground truth
TTC. Considering the high cost of testing TTC algorithms on
full-scale mobile platforms, we also provide a small-scale TTC
testbed for experimental validation and data augmentation.
All the data and the design of the testbed are open sourced,
and they can serve as a benchmark that will facilitate the
development of vision-based TTC techniques.</p>
</div>
</div>
</div>
</li></ol>
<br>
<!-- License -->
<div class="License">
<h2>License</h2>
This datasets, along with documentation and toolbox, are released under the <a href="https://spdx.org/licenses/BSD-3-Clause-Clear.html" target="_blank" rel="noopener noreferrer">BSD 3-Clause Clear License</a>.
</div>
<br>
<br>
<!-- Acknowledgements -->
<div class="Acknowledgement">
<h2>Acknowledgement</h2>
This work was supported by the National Key Research and Development
Project of China (grant number 2023YFB4706600), as well as the generous support provided by our industry partner <a href="https://www.cidi.ai/" target="_blank" rel="noopener noreferrer">Xidi Zhijia (Hunan) Co., Ltd.</a>.
</div>
<br>
<br>
<!-- Social -->
<div class="social">
<div class="contact-icons">
<a href="https://nail-hnu.github.io/EvTTC/" title="EvTTC Datasets" target="_blank" rel="noopener noreferrer"><i class="fas fa-home"></i></a> <!-- fab fa-blogger-b -->
<a href="https://sites.google.com/view/zhouyi-joey/home" title="The Neuromorphic Automation and Intelligence Lab" target="_blank" rel="noopener noreferrer"><i class="fas fa-link"></i></a> <!-- fa-briefcase -->
<a href="mailto:kaizhen@hnu.edu.cn" title="E-mail"><i class="fas fa-envelope"></i></a>
</div>
<div class="contact-note">
</div>
</div>
</article>
<!-- Footer -->
<footer class="fixed-bottom">
<div class="container mt-0" style="width:100%;text-align:center;">
© 2024 Neuromorphic Automation and Intelligence Lab (NAIL), China. All rights reserved.
</div>
</footer>
<!-- JavaScripts -->
<!-- jQuery -->
<script src="https://cdn.jsdelivr.net/npm/jquery@3.6.0/dist/jquery.min.js" integrity="sha256-/xUj+3OJU5yExlq6GSYGSHk7tPXikynS7ogEvDej/m4=" crossorigin="anonymous"></script>
<!-- Bootsrap & MDB scripts -->
<script src="https://cdn.jsdelivr.net/npm/@popperjs/core@2.11.2/dist/umd/popper.min.js" integrity="sha256-l/1pMF/+J4TThfgARS6KwWrk/egwuVvhRzfLAMQ6Ds4=" crossorigin="anonymous"></script>
<script src="https://cdn.jsdelivr.net/npm/bootstrap@4.6.1/dist/js/bootstrap.min.js" integrity="sha256-SyTu6CwrfOhaznYZPoolVw2rxoY7lKYKQvqbtqN93HI=" crossorigin="anonymous"></script>
<script src="https://cdn.jsdelivr.net/npm/mdbootstrap@4.20.0/js/mdb.min.js" integrity="sha256-NdbiivsvWt7VYCt6hYNT3h/th9vSTL4EDWeGs5SN3DA=" crossorigin="anonymous"></script>
<!-- Masonry & imagesLoaded -->
<script defer src="https://cdn.jsdelivr.net/npm/masonry-layout@4.2.2/dist/masonry.pkgd.min.js" integrity="sha256-Nn1q/fx0H7SNLZMQ5Hw5JLaTRZp0yILA/FRexe19VdI=" crossorigin="anonymous"></script>
<script defer src="https://cdn.jsdelivr.net/npm/imagesloaded@4/imagesloaded.pkgd.min.js"></script>
<script defer src="/EvTTC/assets/js/masonry.js" type="text/javascript"></script>
<!-- Medium Zoom JS -->
<script src="https://cdn.jsdelivr.net/npm/medium-zoom@1.0.6/dist/medium-zoom.min.js" integrity="sha256-EdPgYcPk/IIrw7FYeuJQexva49pVRZNmt3LculEr7zM=" crossorigin="anonymous"></script>
<script src="/EvTTC/assets/js/zoom.js"></script><!-- Load Common JS -->
<script src="/EvTTC/assets/js/common.js"></script>
<!-- MathJax -->
<script type="text/javascript">
window.MathJax = {
tex: {
tags: 'ams'
}
};
</script>
<script defer type="text/javascript" id="MathJax-script" src="https://cdn.jsdelivr.net/npm/mathjax@3.2.0/es5/tex-mml-chtml.js"></script>
<script defer src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script>
</body>
</html>