Multi-task Learning for Visual Perception in Automated Driving

Abstract

Every year, 1.2 million people die, and up to 50 million people are injured in accidents worldwide. Automated driving can significantly reduce that number. Automated driving also has several economic and societal benefits that include convenient and efficient transportation, enhanced mobility for the disabled and elderly population, etc. Visual perception is the ability to perceive the environment, which is a critical component in decision-making that builds safer automated driving. Recent progress in computer vision and deep learning paired with high-quality sensors like cameras and LiDARs fueled mature visual perception solutions. The main bottleneck for these solutions is the limited processing power available to build real-time applications. This bottleneck often leads to a trade-off between performance and run-time efficiency. To address these bottlenecks, we focus on: 1) building optimized architectures for different visual perception tasks like semantic segmentation, panoptic segmentation, etc. using convolutional neural networks that have high performance and low computational complexity, 2) using multi-task learning to overcome computational bottlenecks by sharing the initial convolutional layers between different tasks while developing advanced learning strategies that achieve balanced learning between tasks.PhDCollege of Engineering & Computer ScienceUniversity of Michigan-Dearbornhttp://deepblue.lib.umich.edu/bitstream/2027.42/167355/1/Sumanth Chennupati Final Dissertation.pd