5,857 research outputs found
The Right (Angled) Perspective: Improving the Understanding of Road Scenes Using Boosted Inverse Perspective Mapping
Many tasks performed by autonomous vehicles such as road marking detection,
object tracking, and path planning are simpler in bird's-eye view. Hence,
Inverse Perspective Mapping (IPM) is often applied to remove the perspective
effect from a vehicle's front-facing camera and to remap its images into a 2D
domain, resulting in a top-down view. Unfortunately, however, this leads to
unnatural blurring and stretching of objects at further distance, due to the
resolution of the camera, limiting applicability. In this paper, we present an
adversarial learning approach for generating a significantly improved IPM from
a single camera image in real time. The generated bird's-eye-view images
contain sharper features (e.g. road markings) and a more homogeneous
illumination, while (dynamic) objects are automatically removed from the scene,
thus revealing the underlying road layout in an improved fashion. We
demonstrate our framework using real-world data from the Oxford RobotCar
Dataset and show that scene understanding tasks directly benefit from our
boosted IPM approach.Comment: equal contribution of first two authors, 8 full pages, 6 figures,
accepted at IV 201
On Offline Evaluation of Vision-based Driving Models
Autonomous driving models should ideally be evaluated by deploying them on a
fleet of physical vehicles in the real world. Unfortunately, this approach is
not practical for the vast majority of researchers. An attractive alternative
is to evaluate models offline, on a pre-collected validation dataset with
ground truth annotation. In this paper, we investigate the relation between
various online and offline metrics for evaluation of autonomous driving models.
We find that offline prediction error is not necessarily correlated with
driving quality, and two models with identical prediction error can differ
dramatically in their driving performance. We show that the correlation of
offline evaluation with driving quality can be significantly improved by
selecting an appropriate validation dataset and suitable offline metrics. The
supplementary video can be viewed at
https://www.youtube.com/watch?v=P8K8Z-iF0cYComment: Published at the ECCV 2018 conferenc
Bringing Background into the Foreground: Making All Classes Equal in Weakly-supervised Video Semantic Segmentation
Pixel-level annotations are expensive and time-consuming to obtain. Hence,
weak supervision using only image tags could have a significant impact in
semantic segmentation. Recent years have seen great progress in
weakly-supervised semantic segmentation, whether from a single image or from
videos. However, most existing methods are designed to handle a single
background class. In practical applications, such as autonomous navigation, it
is often crucial to reason about multiple background classes. In this paper, we
introduce an approach to doing so by making use of classifier heatmaps. We then
develop a two-stream deep architecture that jointly leverages appearance and
motion, and design a loss based on our heatmaps to train it. Our experiments
demonstrate the benefits of our classifier heatmaps and of our two-stream
architecture on challenging urban scene datasets and on the YouTube-Objects
benchmark, where we obtain state-of-the-art results.Comment: 11 pages, 4 figures, 7 tables, Accepted in ICCV 201
- …