Dynamic Occupancy Grid Prediction for Urban Autonomous Driving: A Deep Learning Approach with Fully Automatic Labeling

Long-term situation prediction plays a crucial role in the development of intelligent vehicles. A major challenge still to overcome is the prediction of complex downtown scenarios with multiple road users, e.g., pedestrians, bikes, and motor vehicles, interacting with each other. This contribution tackles this challenge by combining a Bayesian filtering technique for environment representation, and machine learning as long-term predictor. More specifically, a dynamic occupancy grid map is utilized as input to a deep convolutional neural network. This yields the advantage of using spatially distributed velocity estimates from a single time step for prediction, rather than a raw data sequence, alleviating common problems dealing with input time series of multiple sensors. Furthermore, convolutional neural networks have the inherent characteristic of using context information, enabling the implicit modeling of road user interaction. Pixel-wise balancing is applied in the loss function counteracting the extreme imbalance between static and dynamic cells. One of the major advantages is the unsupervised learning character due to fully automatic label generation. The presented algorithm is trained and evaluated on multiple hours of recorded sensor data and compared to Monte-Carlo simulation

Exploiting zoning based on approximating splines in cursive script recognition

Because of its complexity, handwriting recognition has to exploit many sources of information to be successful, e.g. the handwriting zones. Variability of zone-lines, however, requires a more flexible representation than traditional horizontal or linear methods. The proposed method therefore employs approximating cubic splines. Using entire lines of text rather than individual words is shown to improve the zoning accuracy, especially for short words. The new method represents an improvement over existing methods in terms of range of applicability, zone-line precision and zoning-classification accuracy. Application to several problems of handwriting recognition is demonstrated and evaluated