Seamless Virtual Reality With Integrated Synchronizer and Synthesizer for Autonomous Driving

Li，He1; Han，Ruihua2,3; Zhao，Zirui2; Xu，Wei4; Hao，Qi2; Wang，Shuai5; Xu，Chengzhong1

2024-05-01

10.1109/LRA.2024.3375266

IEEE Robotics and Automation Letters   影响因子和分区

2377-3774

2377-3766

Virtual reality (VR) is a promising data engine for autonomous driving (AD). However, data fidelity in this paradigm is often degraded by VR inconsistency, for which the existing VR approaches become ineffective, as they ignore the inter-dependency between low-level VR synchronizer designs (i.e., data collector) and high-level VR synthesizer designs (i.e., data processor). This paper presents a seamless virtual reality ( SVR) platform for AD, which mitigates such inconsistency, enabling VR agents to interact with each other in a shared symbiotic world. The crux to SVR is an integrated synchronizer and synthesizer ( IS2) design, which consists of a drift-aware lidar-inertial synchronizer for VR colocation and a motion-aware deep visual synthesis network for augmented reality image generation. We implement SVR on car-like robots in two sandbox platforms, achieving a cm-level VR colocalization accuracy and 3.2% VR image deviation, thereby avoiding missed collisions or model clippings. Experiments show that the proposed SVR reduces the intervention times, missed turns, and failure rates compared to other benchmarks. The SVR-trained neural network can handle unseen situations in real-world environments, by leveraging its knowledge learnt from the VR space.

Autonomous driving imitation learning sim-to-real virtual reality

SCI ; EI

英语

其他

2-s2.0-85187973741

Scopus

1.University of Macau,State Key Laboratory of Internet of Things for Smart City (SKL-IOTSC),999078,Macao
2.Southern University of Science and Technology,Department of Computer Science and Engineering,Shenzhen,518000,China
3.The University of Hong Kong,Department of Computer Science,Hong Kong
4.Manifold Tech Limited,Hong Kong
5.Shenzhen Institute of Advanced Technology (SIAT),Chinese Academy of Sciences,Center for Cloud Computing,Shenzhen,518000,China

Li，He,Han，Ruihua,Zhao，Zirui,et al. Seamless Virtual Reality With Integrated Synchronizer and Synthesizer for Autonomous Driving[J]. IEEE Robotics and Automation Letters,2024,9(5):4218-4225.

Li，He.,Han，Ruihua.,Zhao，Zirui.,Xu，Wei.,Hao，Qi.,...&Xu，Chengzhong.(2024).Seamless Virtual Reality With Integrated Synchronizer and Synthesizer for Autonomous Driving.IEEE Robotics and Automation Letters,9(5),4218-4225.

Li，He,et al."Seamless Virtual Reality With Integrated Synchronizer and Synthesizer for Autonomous Driving".IEEE Robotics and Automation Letters 9.5(2024):4218-4225.