SANPO: A Scene Understanding, Accessibility, Navigation, Pathfinding, Obstacle Avoidance Dataset

Sagar M. Waghmare, Kimberly Wilber, Dave Hawkey,Xuan Yang, Matthew Wilson, Stephanie Debats,Cattalyya Nuengsigkapian,Astuti Sharma, Lars Pandikow,Huisheng Wang,Hartwig Adam, Mikhail Sirotenko

CoRR(2023)

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摘要
We introduce SANPO, a large-scale egocentric video dataset focused on dense prediction in outdoor environments. It contains stereo video sessions collected across diverse outdoor environments, as well as rendered synthetic video sessions. (Synthetic data was provided by Parallel Domain.) All sessions have (dense) depth and odometry labels. All synthetic sessions and a subset of real sessions have temporally consistent dense panoptic segmentation labels. To our knowledge, this is the first human egocentric video dataset with both large scale dense panoptic segmentation and depth annotations. In addition to the dataset we also provide zero-shot baselines and SANPO benchmarks for future research. We hope that the challenging nature of SANPO will help advance the state-of-the-art in video segmentation, depth estimation, multi-task visual modeling, and synthetic-to-real domain adaptation, while enabling human navigation systems. SANPO is available here: https://google-research-datasets.github.io/sanpo_dataset/
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关键词
scene understanding,navigation,accessibility,pathfinding,dataset
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