Method and system for virtual sensor data generation with depth ground truth annotation
First Claim
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1. A method, comprising:
- generating, by a processor, a virtual environment with a virtual sensor therein;
positioning, by the processor, the virtual sensor on a mobile virtual object in the virtual environment;
generating, by the processor, simulation-generated data characterizing the virtual environment as perceived by the virtual sensor as the mobile virtual object and the virtual sensor move around in the virtual environment;
recording, by the processor, the simulation-generated data; and
annotating, by the processor, the data with a depth map characterizing a spatial relationship between the virtual sensor and the virtual environment.
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Abstract
Methods and systems for generating virtual sensor data for developing or testing computer vision detection algorithms are described. A system and a method may involve generating a virtual environment. The system and the method may also involve positioning a virtual sensor at a first location in the virtual environment. The system and the method may also involve recording data characterizing the virtual environment, the data corresponding to information generated by the virtual sensor sensing the virtual environment. The system and the method may further involves annotating the data with a depth map characterizing a spatial relationship between the virtual sensor and the virtual environment.
22 Citations
20 Claims
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1. A method, comprising:
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generating, by a processor, a virtual environment with a virtual sensor therein; positioning, by the processor, the virtual sensor on a mobile virtual object in the virtual environment; generating, by the processor, simulation-generated data characterizing the virtual environment as perceived by the virtual sensor as the mobile virtual object and the virtual sensor move around in the virtual environment; recording, by the processor, the simulation-generated data; and annotating, by the processor, the data with a depth map characterizing a spatial relationship between the virtual sensor and the virtual environment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A sensor data generation system, comprising:
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one or more processors; and memory operably connected to the one or more processors, the memory storing a plurality of components executable by the one or more processors, the plurality of components comprising; a virtual environment programmed to include a plurality of virtual objects; a sensor model programmed to model a sensor in the virtual environment; a positioning module programmed to set a location and an orientation of the sensor in the virtual environment, wherein at least one of the virtual objects is a mobile virtual object, and wherein the sensor is on the mobile virtual object; a simulation module programmed to utilize the virtual environment, the sensor model and the positioning module to produce simulation-generated data characterizing the virtual environment as perceived by the sensor as the mobile virtual object and the virtual sensor move around in the virtual environment to model an output of the sensor in a real-world scenario sensing an actual environment similar to or matching the virtual environment; and an annotation module programmed to annotate the data with a depth map characterizing a spatial relationship between the sensor and one or more of the plurality of virtual objects in the virtual environment. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification