Abstract

We introduce the KAIST multi-spectral dataset, which covers a greater range of drivable regions, from urban to residential, for autonomous systems. Our dataset provides different perspectives of the world captured in coarse time slots (day and night) in addition to fine time slots (sunrise, morning, afternoon, sunset, night and dawn). For all-day perception of autonomous systems, we propose the use of a different spectral sensor, i.e., a thermal imaging camera. Toward this goal, we develop a multi-sensor platform, which supports the use of a co-aligned RGB/Thermal camera, RGB stereo, 3D LiDAR and inertial sensors (GPS/IMU) and a related calibration technique. We design a wide range of visual perception tasks including the object detection, drivable region detection, localization, image enhancement, depth estimation and colorization using a single/multi-spectral approach. In this paper, we provide a description of our benchmark with the recording platform, data format, development toolkits, and lessons about the progress of capturing datasets.