??? ?? AV ??? ?? ?? ???? ??? ???? ?? ???

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?????? ???? ???? ???? ???? ???? 100m ?? ??? ??? ?? ??? ??? ???? ?? ??????.

??? ?? ????? ? ??? ?????. ??? ?? 70??? ???? ?? ?????(AV)? ?? ??? 100m?? 200m? ?? ? ??? ??? ??? ? ?? ??? ?? ? ?????.

??? ? ??? ???? ?? ????? ??? ???? ???? ??? ?? ?? ???? ?? ?? ??? ?????. ??? ?? ??? ?? ??? ?? ???? ????? 3D ??? ?? ? ??? ?? ?? ??(GT) ????? ??? ??? ??? ???? ???? ???.

A rendering of an ego vehicle with cameras, with the vehicle 200 m outside the cone of perception and without a ground truth bounding box. — *?? 1. ???? ??? ?? ???? ????? ??? ??? ??? ??? ?? ??? ??? ??? ?? ??????. (???? ???? ???? ?? ?????.)*

? GT ???? ???? ?? 200m? ???? ??? ?? ? ??????. ??? ????? ???? ?? ??? ???? ? ??? ??????. ????? ???? ?? ??? ?? ? ?? ??? ??? ?? 3D ? ?? ??? ???? ? ?????, ? ???? ???? ?? ??? ???? ????? ???? ?????.

Camera frame showing a highway scene, with an insert showing long-distance vehicles at lower resolution. — ?? 2. ???? ???? 30? ??? ?? ??? ??? ??? ??? ??. ???? ??? ??? ? ?? ???? ???? ?? ?????.

NVIDIA DRIVE AV ?? ?? ???? ? ??? ??? ???? ????. ?? ?? NVIDIA ?? NVIDIA Omniverse Replicator? ??? ???? NVIDIA DRIVE Sim?? ??? ????? ?? ?? GT ???? ??????.

NVIDIA DRIVE Sim? Omniverse? ???? ??? AV ??????, ???? ?? ?????? ?? ??? ??? ?? ?? ?? ?? ??? ?????. ??? ??? NVIDIA DRIVE Sim ??? ?? ??? ??????.

NVIDIA DRIVE Sim? ?? ??? ????? Ego ???? 400m ?? 500m ??? ?? ??? ??? ???? ?????? ??? ?? ??? ??? ?? ??? ???? ??? ? ????.

?? ?? ??? ?? ?? ?? ??? ???? ???? ??? ??? 3D ? ?? GT ???? ??? ? ????.

? ?? GT ???? ?? ?? ??? ??? ???? ????? ??? ????? ????? ???? 190m?? 200m? ??? ?? 33%? F1 ?? ??? ??? ? ?????.

??? ??? ?? ?? GT ??? ??

??? ???? ??? ??? ???? ??? ???? ??, ??? ???? ?? ??? ? 100K ???? ??? ?? ??? ??? ???? ??? ?? ??? ??? ???? ?? ??? ????. ?? 3? 3D ?? ???? ? ?? ????(DNN) ?? ??? ????? Omniverse Replicator? ???? NVIDIA DRIVE Sim?? ??? ??? ??? ???? ??? ?????.

Flow chart showing the steps to generate synthetic data on NVIDIA DRIVE Sim. The steps include choosing 3D environments, configuring the ego vehicle with sensors, defining scenarios and randomization, specifying a ground truth format, and finally, generating synthetic data for training, and evaluating deep neural network (DNN) performance. — *?? 3. NVIDIA DRIVE Sim? ???? ?? ???? ????? ???? ?? ???(DNN) ???? ???? ? ????.*

???? ?? ??? ??? 3D ??? ??? ? ?? ??? ??? ??? ?? ??? ??????.

NVIDIA DRIVE Sim? Omniverse Replicator ?????? ??? ??? ???? API? ???? 3D ??? ??, ??, ??? ????? ???? ??????. ASAM OpenDRIVE ? API? ???? ??? ???? 100m?? 350m, ? ??? ??? ??? ???? ?? ???? ??????.

??? 1. Omniverse Replicator? ???? NVIDIA DRIVE Sim?? ??? ?? GT ???? ???? ??? ??? ????? ????? ??? ? ????.

NVIDIA DRIVE Sim ?? ???? ???? ?? ???? ?? ????? ?? ????? ???? ??? ???? ??? ?????? ? ????. ?? ?? ?? ???? ???? ??? ????? ??? ???? ?????.

??? ?? ? ??? ????? 3D ??? ??, ??, ??? ???, ???? ID ? ??? ???? ???? ?? Omniverse Replicator? GT ???? ??????.

?? ??? ???? ??? ?? ?? ??

? ?? ???? ?? ?? ??? ??? 200m? ??? ???? ?????? ??? ?? GT ???? ??? 100? ? ??? ???? ?????. ?? 4? ??? ??? ??? ?? ???? ?? ??? ??? ?? ???? 100m ???? ??? ????. ? ? ??? ?? ??? ?? GT ???? ??? ??? ?????? ???? ????.

Side-by-side heat maps showing the distribution of object distance for real world data on the left and synthetic data on the right. The left map shows a greater concentration of vehicles within 100 m in the real dataset, while the right map shows a distribution skewed toward 150 m and beyond, generated from simulation. — *?? 4. Ego ??? ?? ?? ??? ??? ?? ??(?? ??? ??? NVIDIA DRIVE Sim?? ??? ?? ??? ?). ?? ??? ??? 0?, ??? 180????. ??? ??? ????.*

? ??, ?? 350m?? ??? ??? ?? ??? ??? ?? ??? ? GT ??? ???? 371?? ??? ~92K ?? ???? ??????. ?? ??? ??? ??? ??? 150m ??? ???? ? ?? ??? ????. ? ?? ??? ??? ? 92K? ?? ???? ???? ??? ???? ??? ??? ??? ?? ??? ??????.

??? ??? ???? ?? ????? ??? ?, ?? 200m? ??? ??? ?? ?? ??? ??? ?? ????? ???????. ??? ?? ?? ??? ?? KPI? 190m?? 200m ??? ???? ?? ??? ???? ??? ???? ???? F1 ??? ?? 33% ??? ??? ??????.

Line graph showing percentage of improvement in detection as range increases, based on number of simulated images used to train. The addition of simulated images resulted in an improved F1 score of 33% for cars located between 190 m to 200 m. — *?? 5. ??? ?? DNN? ?? ??(F1 ??), NVIDIA DRIVE Sim? ????? ???? ?? ?? ?? ? DNN? ????? ? ??*

??

?? ???? AV ??? ?? ???? ??? ???? ???, ???? ????? ??? ?? ??? ?????. NVIDIA DRIVE Sim ? NVIDIA Omniverse Replicator? ???? ??? ??? ????????, ??? ?? ??? ?? ? AV ?? ????? ????, ??? ?? ???? ?????? ? ???, ? ?? ??? ?? ???? ???? ?? ? ??? ????? ?? ??? ???? ??? ? ????.

?? ??? ??? ???? ??? ???? AV ??? ?? ?? ???? ????. ?????? ??? ???? ??? ???? ??? ??? ????? NVIDIA GTC DRIVE ??? ?? ??? NVIDIA DRIVE Replicator? ?? ???? ???? ??? ?????.