aiMotive Dataset: A Multimodal Dataset for Robust Autonomous Driving with Long-Range Perception

Autonomous driving is a popular research area within the computer vision research community. Since autonomous vehicles are highly safety-critical, ensuring robustness is essential for real-world deployment. While several public multimodal datasets are accessible, they mainly comprise two sensor modalities (camera, LiDAR) which are not well suited for adverse weather. In addition, they lack far-range annotations, making it harder to train neural networks that are the base of a highway assistant function of an autonomous vehicle. Therefore, we introduce a multimodal dataset for robust autonomous driving with long-range perception. The dataset consists of 176 scenes with synchronized and calibrated LiDAR, camera, and radar sensors covering a 360-degree field of view. The collected data was captured in highway, urban, and suburban areas during daytime, night, and rain and is annotated with 3D bounding boxes with consistent identifiers across frames. Furthermore, we trained unimodal and multimodal baseline models for 3D object detection. Data are available at \url{https://github.com/aimotive/aimotive_dataset}.Comment: The paper was accepted to ICLR 2023 Workshop Scene Representations for Autonomous Drivin

The Differentiability of Horizons Along Their Generators

Let H be a (past directed) horizon in a time-oriented Lorentz manifold and gamma : [(alpha, beta) -> H a past directed generator of the horizon, where [(alpha, beta) is [alpha, beta) or (alpha, beta). It is proved that either at every point of gamma(t) , t is an element of (alpha, beta) the differentiability order of H is the same, or there is a so-called differentiability jumping point gamma (t(0)) , t(0) is an element of (alpha, beta) such that H is only differentiable at every point gamma(t) , t is an element of (alpha, t(0)) but not of class C-1 and H is exactly of class C-1 at every point gamma(t) , t is an element of (t0, beta). We will use in the proof a result which shows that every mathematical horizon in the sense of P. T. Chrusciel locally coincides with a Cauchy horizon