Precise Synthetic Image and LiDAR (PreSIL) Dataset for Autonomous Vehicle Perception
Bibliographic record
Abstract
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.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.002 |
| Meta-epidemiology (narrow) | 0.004 | 0.001 |
| Meta-epidemiology (broad) | 0.002 | 0.002 |
| Bibliometrics | 0.002 | 0.002 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.002 | 0.001 |
| Open science | 0.004 | 0.002 |
| Research integrity | 0.003 | 0.002 |
| Insufficient payload (model declined to judge) | 0.011 | 0.020 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".