Localization Is All You Evaluate: Data Leakage in Online Mapping Datasets and How to Fix It

1 code implementation • 11 Dec 2023 • Adam Lilja, Junsheng Fu, Erik Stenborg, Lars Hammarstrand

Specifically, over $80$% of nuScenes and $40$% of Argoverse 2 validation and test samples are less than $5$ m from a training sample.

Zenseact Open Dataset: A large-scale and diverse multimodal dataset for autonomous driving

1 code implementation • ICCV 2023 • Mina Alibeigi, William Ljungbergh, Adam Tonderski, Georg Hess, Adam Lilja, Carl Lindstrom, Daria Motorniuk, Junsheng Fu, Jenny Widahl, Christoffer Petersson

The dataset is composed of Frames, Sequences, and Drives, designed to encompass both data diversity and support for spatio-temporal learning, sensor fusion, localization, and mapping.

Autonomous Driving Multi-Task Learning +3

Performance Analysis and Robustification of Single-query 6-DoF Camera Pose Estimation

no code implementations • 17 Aug 2018 • Junsheng Fu, Said Pertuz, Jiri Matas, Joni-Kristian Kämäräinen

We consider a single-query 6-DoF camera pose estimation with reference images and a point cloud, i. e. the problem of estimating the position and orientation of a camera by using reference images and a point cloud.

Pose Estimation