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arXiv 最近完成扫描:2026-11-15 13:55 · 全站最近入库:2026-11-14 15:09各信源进度 →

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版本更新 · v2arXiv:2610.40455

面向空中增强自动驾驶的统一基准:KITScenes Aerial 数据集

A Unified Benchmark for Aerial-Enhanced Autonomous Driving: The KITScenes Aerial Dataset

Daniel Lengerer, Richard Schwarzkopf, Jonas Merkert, Fabian Immel, Rupert Polley, Frank Bieder, Jan-Hendrik Pauls, J. Marius Zöllner 等 11 位作者

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作者提出 KITScenes Aerial 数据集,将同步车载传感器数据、车辆位姿与 Lanelet2 地图标注同空间关联的航拍影像结合,为建图与跨视角定位等任务提供统一评测基础。

cs.CV

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Aerial imagery provides complementary spatial context for autonomous driving by exposing road structure beyond the immediate perception range of onboard sensors. Yet map construction from aerial imagery, aerial-assisted online HD mapping, and cross-view localization are typically studied on separate data and benchmarks. We introduce KITScenes Aerial, an extension of the KITScenes Multimodal dataset that augments synchronized onboard sensor data, vehicle poses, and rich Lanelet2 map annotations with spatially associated aerial imagery and higher-resolution neural representations, providing a common basis for a variety of research tasks. Our mapping evaluation focuses on all 53 KITScenes map classes across different model designs, spatial ranges, and aerial resolutions, while retaining compatibility with the widely used three-class setting. Representative baselines show that aerial context is particularly beneficial for fine-grained and extended-range mapping, more than doubling 53-class mAP at the larger mapping extent. Higher-resolution aerial imagery yields a further 4.3 mAP (+24 %) improvement, with gains extending to challenging map elements such as traffic lights. We additionally evaluate cross-view localization under geographically disjoint conditions, where an adapted fine-grained feature-matching baseline achieves a mean translation error of 5.13 m. KITScenes Aerial thus enables unified study of aerial and ground-level information across complementary mapping and localization tasks. Project page: https://kitscenes.com/aerial