Car Full View Dataset: Fine-Grained Predictions of Car Orientation from Images

Abstract

The orientation of objects plays an important role in accurate predictions for the tasks of classification, detection, and trajectory estimation. This is especially important in the automotive domain, where estimating an accurate car orientation can significantly impact the effectiveness of the other prediction tasks. This work presents Car Full View (CFV), a novel dataset for car orientation prediction from images obtained by video recording all possible angles of individual vehicles in diverse scenarios. We developed a tool to semi-automatically annotate all the video frames with the respective car angle based on the walking speed of the recorder and manually annotated key angles. The final dataset contains over 23,000 images of individual cars along with fine-grained angle annotations. We study the performance of three state-of-the-art deep learning architectures on this dataset in three different learning settings: classification, regression, and multi-objective. The top result of 3.39° in circular mean absolute error (CMAE) shows that the model accurately predicts car orientations for unseen vehicles and images. Furthermore, we test the trained models on images from two different datasets and show their generalization capability to realistic images. We release the dataset and the best models while publishing a web service to annotate new images.