Scenario Visualization

In this section, we visualize an example set of multimodal sequences generated by Drivence. We first give the reference sequences as an example. Then we provide the visualization of the synthetic multi-modal sequences. 

Note: For the KITTI dataset, the number of vehicles is computed as the count of unique IDs labeled as any vehicle category. For the nuScenes dataset, the number of vehicles is computed as the count of unique instance_tokens whose category starts with "vehicle".

Scenairo S1-S8

Example S1

Reference Data 

Generated Data 

Example 2

Reference Data

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Example 3

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Example 4

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Example 5

Reference Data

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Example 6 

Reference Data

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Example 7

Reference Data

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Example 8

Reference Data

Generated Data