{"id":1017,"date":"2024-10-08T15:06:53","date_gmt":"2024-10-08T19:06:53","guid":{"rendered":"https:\/\/labs.cs.queensu.ca\/quarrg\/?page_id=1017"},"modified":"2024-11-01T08:27:22","modified_gmt":"2024-11-01T12:27:22","slug":"adver-city","status":"publish","type":"page","link":"https:\/\/labs.cs.queensu.ca\/quarrg\/datasets\/adver-city\/","title":{"rendered":"Adver-City"},"content":{"rendered":"\n<div class=\"wp-block-uagb-container uagb-block-534aedf2 alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"6242\" height=\"1142\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/text.png\" alt=\"\" class=\"wp-image-1027\" srcset=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/text.png 6242w, https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/text-300x55.png 300w, https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/text-1024x187.png 1024w, https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/text-768x141.png 768w, https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/text-1536x281.png 1536w, https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/text-2048x375.png 2048w\" sizes=\"auto, (max-width: 6242px) 100vw, 6242px\" \/><\/figure>\n\n\n\n<div class=\"wp-block-uagb-advanced-heading uagb-block-c1863f0f\"><h3 class=\"uagb-heading-text\">The first open-source collaborative perception dataset focused on adverse weather conditions.<\/h3><\/div>\n\n\n\n<hr class=\"wp-block-separator has-text-color has-ast-global-color-8-color has-alpha-channel-opacity has-ast-global-color-8-background-color has-background is-style-dots\" style=\"margin-top:var(--wp--preset--spacing--50);margin-bottom:var(--wp--preset--spacing--50)\" \/>\n\n\n\n<div class=\"wp-block-uagb-buttons uagb-buttons__outer-wrap uagb-btn__default-btn uagb-btn-tablet__default-btn uagb-btn-mobile__default-btn uagb-block-26808e0a\"><div class=\"uagb-buttons__wrap uagb-buttons-layout-wrap \">\n<div class=\"wp-block-uagb-buttons-child uagb-buttons__outer-wrap uagb-block-96a3bf39 wp-block-button\"><div class=\"uagb-button__wrapper\"><a class=\"uagb-buttons-repeater wp-block-button__link\" aria-label=\"\" href=\"https:\/\/www.frdr-dfdr.ca\/repo\/dataset\/3bda7692-779f-4cbd-b806-b8aa69d5dff9\" rel=\"follow noopener\" target=\"_blank\" role=\"button\"><div class=\"uagb-button__link\">Dataset     <\/div><\/a><\/div><\/div>\n\n\n\n<div class=\"wp-block-uagb-buttons-child uagb-buttons__outer-wrap uagb-block-c36d56a7 wp-block-button\"><div class=\"uagb-button__wrapper\"><a class=\"uagb-buttons-repeater wp-block-button__link\" aria-label=\"\" href=\"https:\/\/github.com\/QUARRG\/Adver-City\" rel=\"follow noopener\" target=\"_blank\" role=\"button\"><div class=\"uagb-button__link\">Github<\/div><\/a><\/div><\/div>\n\n\n\n<div class=\"wp-block-uagb-buttons-child uagb-buttons__outer-wrap uagb-block-132b0501 wp-block-button\"><div class=\"uagb-button__wrapper\"><a class=\"uagb-buttons-repeater wp-block-button__link\" aria-label=\"\" href=\"https:\/\/arxiv.org\/abs\/2410.06380\" rel=\"follow noopener\" target=\"_blank\" role=\"button\"><div class=\"uagb-button__link\">Paper<\/div><\/a><\/div><\/div>\n<\/div><\/div>\n<\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-dots\" \/>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-8bac4fd7 alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-advanced-heading uagb-block-4290d83e\"><h1 class=\"uagb-heading-text\">Key Features<\/h1><\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-b50c028f alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-container uagb-block-b9fc0811\">\n<ul class=\"wp-block-list\">\n<li>Simulated in <a href=\"https:\/\/carla.org\/\" data-type=\"link\" data-id=\"https:\/\/carla.org\/\" target=\"_blank\" rel=\"noreferrer noopener\">CARLA<\/a> with <a href=\"https:\/\/github.com\/ucla-mobility\/OpenCDA\" data-type=\"link\" data-id=\"https:\/\/github.com\/ucla-mobility\/OpenCDA\" target=\"_blank\" rel=\"noreferrer noopener\">OpenCDA<\/a>.<\/li>\n\n\n\n<li>24,087 frames, 890,127 annotations.<\/li>\n\n\n\n<li>Six object categories:\n<ul class=\"wp-block-list\">\n<li>Pedestrians<\/li>\n\n\n\n<li>Bicycles<\/li>\n\n\n\n<li>Motorcycles<\/li>\n\n\n\n<li>Vans<\/li>\n\n\n\n<li>Trucks<\/li>\n\n\n\n<li>Vehicles.<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-55bdc6f3\">\n<ul class=\"wp-block-list\">\n<li>Annotation schema compatible with <a href=\"https:\/\/mobility-lab.seas.ucla.edu\/opv2v\/\" data-type=\"link\" data-id=\"https:\/\/mobility-lab.seas.ucla.edu\/opv2v\/\" target=\"_blank\" rel=\"noreferrer noopener\">OPV2V<\/a>.<\/li>\n\n\n\n<li>110 scenarios including:\n<ul class=\"wp-block-list\">\n<li>5 road configurations.<\/li>\n\n\n\n<li>11 weather\/daytime conditions.<\/li>\n\n\n\n<li>2 density settings.<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>Every scenario features collaboration between 5 viewpoints:\n<ul class=\"wp-block-list\">\n<li>The main vehicle (Ego).<\/li>\n\n\n\n<li>2 Roadside Units (RSU 1 and RSU 2).<\/li>\n\n\n\n<li>2 Connected Vehicles (Car 1 and Car 2).<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/div>\n<\/div><\/div>\n<\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-dots\" \/>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-8b2c531b alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-advanced-heading uagb-block-9c17ee46\"><h1 class=\"uagb-heading-text\">Road Configurations<\/h1><\/div>\n\n\n\n<p class=\"has-text-align-center\">Each configuration was chosen from real-world data accounting for challenging conditions involving adverse weather and poor visibility.<\/p>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-dc4febdf alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-container uagb-block-ba2888fa\">\n<div class=\"wp-block-uagb-image uagb-block-aec07b2a wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/rcnj_gd_d.gif\" alt=\"\" class=\"uag-image-1071\" width=\"854\" height=\"480\" title=\"rcnj_gd_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-cf0b8816\">\n<div class=\"wp-block-uagb-image uagb-block-6c517126 wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/ri_gd_d.gif\" alt=\"\" class=\"uag-image-1072\" width=\"854\" height=\"480\" title=\"ri_gd_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-dc4febdf alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-container uagb-block-ba2888fa\">\n<div class=\"wp-block-uagb-image uagb-block-aec07b2a wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/rsnj_gd_d.gif\" alt=\"\" class=\"uag-image-1073\" width=\"854\" height=\"480\" title=\"rsnj_gd_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-cf0b8816\">\n<div class=\"wp-block-uagb-image uagb-block-6c517126 wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/ui_gd_d.gif\" alt=\"\" class=\"uag-image-1074\" width=\"854\" height=\"480\" title=\"ui_gd_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-dc4febdf alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-container uagb-block-ba2888fa\">\n<div class=\"wp-block-uagb-image uagb-block-aec07b2a wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_gd_d.gif\" alt=\"\" class=\"uag-image-1075\" width=\"854\" height=\"480\" title=\"unj_gd_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-cf0b8816\">\n<div class=\"wp-block-uagb-image uagb-block-6c517126 wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><\/figure><\/div>\n<\/div>\n<\/div><\/div>\n<\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-dots\" \/>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-2d6cf3a2 alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-advanced-heading uagb-block-453eaecc\"><h1 class=\"uagb-heading-text\">Weather Conditions<\/h1><\/div>\n\n\n\n<p class=\"has-text-align-center\">Having a balanced distribution of diverse conditions, Adver-City is the first synthetic collaborative perception dataset to introduce glare.<\/p>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-c9208550 alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-container uagb-block-91cda554\">\n<div class=\"wp-block-uagb-image uagb-block-aec07b2a wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_cd_d.gif\" alt=\"\" class=\"uag-image-1077\" width=\"854\" height=\"480\" title=\"unj_cd_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-ccb7adb9\">\n<div class=\"wp-block-uagb-image uagb-block-6c517126 wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_cn_d-1.gif\" alt=\"\" class=\"uag-image-1089\" width=\"854\" height=\"480\" title=\"unj_cn_d-1\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-bd2b3c00 alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-container uagb-block-d7e19b15\">\n<div class=\"wp-block-uagb-image uagb-block-aec07b2a wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_srd_d.gif\" alt=\"\" class=\"uag-image-1080\" width=\"854\" height=\"480\" title=\"unj_srd_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-690521c7\">\n<div class=\"wp-block-uagb-image uagb-block-6c517126 wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_srn_d.gif\" alt=\"\" class=\"uag-image-1087\" width=\"854\" height=\"480\" title=\"unj_srn_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-11aebc96 alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-container uagb-block-7b91f3a3\">\n<div class=\"wp-block-uagb-image uagb-block-aec07b2a wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_fd_d.gif\" alt=\"\" class=\"uag-image-1078\" width=\"854\" height=\"480\" title=\"unj_fd_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-4b64fb4a\">\n<div class=\"wp-block-uagb-image uagb-block-6c517126 wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_fn_d.gif\" alt=\"\" class=\"uag-image-1085\" width=\"854\" height=\"480\" title=\"unj_fn_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-ee2fd95e alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-container uagb-block-f1773760\">\n<div class=\"wp-block-uagb-image uagb-block-aec07b2a wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_hrd_d.gif\" alt=\"\" class=\"uag-image-1081\" width=\"854\" height=\"480\" title=\"unj_hrd_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-e259a10e\">\n<div class=\"wp-block-uagb-image uagb-block-6c517126 wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_hrn_d.gif\" alt=\"\" class=\"uag-image-1086\" width=\"854\" height=\"480\" title=\"unj_hrn_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-0f5d9880 alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-container uagb-block-e43be4a5\">\n<div class=\"wp-block-uagb-image uagb-block-a3ca2eaa wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_fhrd_d.gif\" alt=\"\" class=\"uag-image-1079\" width=\"854\" height=\"480\" title=\"unj_fhrd_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-9b5440f7\">\n<div class=\"wp-block-uagb-image uagb-block-9f73142b wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_fhrn_d.gif\" alt=\"\" class=\"uag-image-1084\" width=\"854\" height=\"480\" title=\"unj_fhrn_d\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-4230b26c alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-container uagb-block-eb2a5d34\">\n<div class=\"wp-block-uagb-image uagb-block-e57c3c80 wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_gd_d-1.gif\" alt=\"\" class=\"uag-image-1082\" width=\"854\" height=\"480\" title=\"unj_gd_d-1\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-2a293429\">\n<div class=\"wp-block-uagb-image uagb-block-470ba069 wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><\/figure><\/div>\n<\/div>\n<\/div><\/div>\n<\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-dots\" \/>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-2f6ac4a1 alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-advanced-heading uagb-block-d64aa7e2\"><h1 class=\"uagb-heading-text\">Density Settings<\/h1><\/div>\n\n\n\n<p class=\"has-text-align-center\">The varying number of objects in each setting enables novel experimentation with different levels of occlusion.<\/p>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-0cee512f alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-container uagb-block-4bac302d\">\n<div class=\"wp-block-uagb-image uagb-block-257238e0 wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_cn_d-1.gif\" alt=\"\" class=\"uag-image-1089\" width=\"854\" height=\"480\" title=\"unj_cn_d-1\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-a49746ce\">\n<div class=\"wp-block-uagb-image uagb-block-5f45e281 wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-none\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/unj_cn_s.gif\" alt=\"\" class=\"uag-image-1090\" width=\"854\" height=\"480\" title=\"unj_cn_s\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n<\/div><\/div>\n<\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-dots\" \/>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-14eefd06 alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-advanced-heading uagb-block-88ff10a5\"><h1 class=\"uagb-heading-text\">Sensor Suite<\/h1><\/div>\n\n\n\n<p class=\"has-text-align-center\">Balancing performance and real-world feasibility, our sensor suite is based on configurations commonly used in practice and enables Sim2Real approaches.<\/p>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-1a0ae909 alignfull uagb-is-root-container\"><div class=\"uagb-container-inner-blocks-wrap\">\n<div class=\"wp-block-uagb-container uagb-block-5db8252d\">\n<figure class=\"wp-block-table is-style-stripes\"><table><thead><tr><th class=\"has-text-align-left\" data-align=\"left\">Sensors<\/th><th class=\"has-text-align-left\" data-align=\"left\">Details<\/th><\/tr><\/thead><tbody><tr><td class=\"has-text-align-left\" data-align=\"left\">4x RGB cameras<\/td><td class=\"has-text-align-left\" data-align=\"left\">Resolution: 1920 x 1080 pixels, HFOV: 100 degrees<\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">4x Semantic cameras<\/td><td class=\"has-text-align-left\" data-align=\"left\">Resolution: 1920 x 1080 pixels, HFOV: 100 degrees <\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">1x 3D LiDAR<\/td><td class=\"has-text-align-left\" data-align=\"left\">Channels: 32 channels, Points Per Second: 1.2M, Frequency: 10 Hz, Range: 200 meters, VFOV: -25 to 15 degrees <\/td><\/tr><tr><td class=\"has-text-align-left\" data-align=\"left\">GNSS &amp; IMU<\/td><td class=\"has-text-align-left\" data-align=\"left\">Standard deviation: 3e-6 rad (latitude and longitude) and 0.05 meters<\/td><\/tr><\/tbody><\/table><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-uagb-container uagb-block-eb5a5523\">\n<div class=\"wp-block-uagb-image alignright uagb-block-6e566f87 wp-block-uagb-image--layout-default wp-block-uagb-image--effect-static wp-block-uagb-image--align-right\"><figure class=\"wp-block-uagb-image__figure\"><img decoding=\"async\" src=\"https:\/\/labs.cs.queensu.ca\/quarrg\/wp-content\/uploads\/sites\/10\/2024\/10\/SensorPositioning.png\" alt=\"\" class=\"uag-image-1065\" width=\"1753\" height=\"956\" title=\"SensorPositioning\" loading=\"lazy\" role=\"img\" \/><\/figure><\/div>\n<\/div>\n<\/div><\/div>\n<\/div><\/div>\n","protected":false},"excerpt":{"rendered":"<p>The first open-source collaborative perception dataset focused on adverse weather conditions. Key Features Road Configurations Each configuration was chosen from 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