14,094 research outputs found
The Cityscapes Dataset for Semantic Urban Scene Understanding
Visual understanding of complex urban street scenes is an enabling factor for
a wide range of applications. Object detection has benefited enormously from
large-scale datasets, especially in the context of deep learning. For semantic
urban scene understanding, however, no current dataset adequately captures the
complexity of real-world urban scenes.
To address this, we introduce Cityscapes, a benchmark suite and large-scale
dataset to train and test approaches for pixel-level and instance-level
semantic labeling. Cityscapes is comprised of a large, diverse set of stereo
video sequences recorded in streets from 50 different cities. 5000 of these
images have high quality pixel-level annotations; 20000 additional images have
coarse annotations to enable methods that leverage large volumes of
weakly-labeled data. Crucially, our effort exceeds previous attempts in terms
of dataset size, annotation richness, scene variability, and complexity. Our
accompanying empirical study provides an in-depth analysis of the dataset
characteristics, as well as a performance evaluation of several
state-of-the-art approaches based on our benchmark.Comment: Includes supplemental materia
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
- …