Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Precise Synthetic Image and LiDAR (PreSIL) Dataset for Autonomous
  Vehicle Perception   We introduce the Precise Synthetic Image and LiDAR (PreSIL) dataset for
autonomous vehicle perception. Grand Theft Auto V (GTA V), a commercial video
game, has a large detailed world with realistic graphics, which provides a
diverse data collection environment. Existing works creating synthetic LiDAR
data for autonomous driving with GTA V have not released their datasets, rely
on an in-game raycasting function which represents people as cylinders, and can
fail to capture vehicles past 30 metres. Our work creates a precise LiDAR
simulator within GTA V which collides with detailed models for all entities no
matter the type or position. The PreSIL dataset consists of over 50,000 frames
and includes high-definition images with full resolution depth information,
semantic segmentation (images), point-wise segmentation (point clouds), and
detailed annotations for all vehicles and people. Collecting additional data
with our framework is entirely automatic and requires no human annotation of
any kind. We demonstrate the effectiveness of our dataset by showing an
improvement of up to 5% average precision on the KITTI 3D Object Detection
benchmark challenge when state-of-the-art 3D object detection networks are
pre-trained with our data. The data and code are available at
https://tinyurl.com/y3tb9sxy

27
The categories of this paper are: comp-gas
3
The categories of this paper are: physics
9
The categories of this paper are: nlin
17
The categories of this paper are: q-fin
11
The categories of this paper are: hep-lat
31
The categories of this paper are: ao-sci
5
The categories of this paper are: gr-qc
28
The categories of this paper are: alg-geom
6
The categories of this paper are: astro-ph
29
The categories of this paper are: funct-an
13
The categories of this paper are: quant-ph
24
The categories of this paper are: dg-ga
16
The categories of this paper are: stat
18
The categories of this paper are: econ
7
The categories of this paper are: hep-th
23
The categories of this paper are: solv-int