Seamless Virtual Reality With Integrated Synchronizer and Synthesizer for Autonomous Driving
He Li, Ruihua Han, Zirui Zhao, Wei Dong Xu, Qi Hao, Shuai Wang, Chengzhong Xu · IEEE Robotics and Automation Letters · 2024
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 ($\mathsf {SVR}$) platform for AD, which mitigates such inconsistency, enabling VR agents to interact with each other in a shared symbiotic world. The crux to$\mathsf {SVR}$is an integrated synchronizer and synthesizer ($\mathsf {IS}^{2}$) 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$\mathsf {SVR}$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$\mathsf {SVR}$reduces the intervention times, missed turns, and failure rates compared to other benchmarks. The$\mathsf {SVR}$-trained neural network can handle unseen situations in real-world environments, by leveraging its knowledge learnt from the VR space.