3,094 research outputs found
Egocentric Vision-based Future Vehicle Localization for Intelligent Driving Assistance Systems
Predicting the future location of vehicles is essential for safety-critical
applications such as advanced driver assistance systems (ADAS) and autonomous
driving. This paper introduces a novel approach to simultaneously predict both
the location and scale of target vehicles in the first-person (egocentric) view
of an ego-vehicle. We present a multi-stream recurrent neural network (RNN)
encoder-decoder model that separately captures both object location and scale
and pixel-level observations for future vehicle localization. We show that
incorporating dense optical flow improves prediction results significantly
since it captures information about motion as well as appearance change. We
also find that explicitly modeling future motion of the ego-vehicle improves
the prediction accuracy, which could be especially beneficial in intelligent
and automated vehicles that have motion planning capability. To evaluate the
performance of our approach, we present a new dataset of first-person videos
collected from a variety of scenarios at road intersections, which are
particularly challenging moments for prediction because vehicle trajectories
are diverse and dynamic.Comment: To appear on ICRA 201
Long-Term On-Board Prediction of People in Traffic Scenes under Uncertainty
Progress towards advanced systems for assisted and autonomous driving is
leveraging recent advances in recognition and segmentation methods. Yet, we are
still facing challenges in bringing reliable driving to inner cities, as those
are composed of highly dynamic scenes observed from a moving platform at
considerable speeds. Anticipation becomes a key element in order to react
timely and prevent accidents. In this paper we argue that it is necessary to
predict at least 1 second and we thus propose a new model that jointly predicts
ego motion and people trajectories over such large time horizons. We pay
particular attention to modeling the uncertainty of our estimates arising from
the non-deterministic nature of natural traffic scenes. Our experimental
results show that it is indeed possible to predict people trajectories at the
desired time horizons and that our uncertainty estimates are informative of the
prediction error. We also show that both sequence modeling of trajectories as
well as our novel method of long term odometry prediction are essential for
best performance.Comment: CVPR 201
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