Multi-sensor Simulation

Drivence employs an enhanced simulation module to render sequence-level images and point clouds for objects to be inserted.

Refer to [Visualization Comparison] for a comparison of the visualizations before and after the improvements.

Then, we provide the details of sensor parameter configuration.

Sensor Parameter Configuration

We leverage the configurations of Velodyne HDL-64E lidar and PointGray Flea2 color camera provided by KITTI to build our virtual simulator. Here we provide configuration parameters of our virtual sensor. Default means using the calibration of the sensors provided by KITTI.

The extrinsic parameters of the sensors are provided by KITTI, refer to the image below

The image is from KITTI.

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