Driving datasets accelerate the development of intelligent driving and related computer vision technologies, while substantial and detailed annotations serve as fuels and powers to boost the efficacy of such datasets to improve learning-based models. We propose D$^2$-City, a large-scale comprehensive collection of dashcam videos collected by vehicles on DiDi's platform. D$^2$-City contains more than 10000 video clips which deeply reflect the diversity and complexity of real-world traffic scenarios in China. We also provide bounding boxes and tracking annotations of 12 classes of objects in all frames of 1000 videos and detection annotations on keyframes for the remainder of the videos. Compared with existing datasets, D$^2$-City features data in varying weather, road, and traffic conditions and a huge amount of elaborate detection and tracking annotations. By bringing a diverse set of challenging cases to the community, we expect the D$^2$-City dataset will advance the perception and related areas of intelligent driving.
There has been an increasing interest in testing the equality of large Pearson's correlation matrices. However, in many applications it is more important to test the equality of large rank-based correlation matrices since they are more robust to outliers and nonlinearity. Unlike the Pearson's case, testing the equality of large rank-based statistics has not been well explored and requires us to develop new methods and theory. In this paper, we provide a framework for testing the equality of two large U-statistic based correlation matrices, which include the rank-based correlation matrices as special cases. Our approach exploits extreme value statistics and the Jackknife estimator for uncertainty assessment and is valid under a fully nonparametric model. Theoretically, we develop a theory for testing the equality of U-statistic based correlation matrices. We then apply this theory to study the problem of testing large Kendall's tau correlation matrices and demonstrate its optimality. For proving this optimality, a novel construction of least favourable distributions is developed for the correlation matrix comparison.