Fast Joint Object Detection and Viewpoint Estimation for Traffic Scene Understanding
Articles
Overview
published in
publication date
- September 2018
start page
- 74
end page
- 86
issue
- 4
volume
- 10
Digital Object Identifier (DOI)
full text
International Standard Serial Number (ISSN)
- 1939-1390
abstract
- Environment perception is a critical enabler for automated driving systems since it allows a comprehensive understanding of traffic situations, which is a requirement to ensure safe and reliable operation. Among the different applications, obstacle identification is a primary module of the perception system. We propose a vision-based method built upon a deep convolutional neural network that can reason simultaneously about the location of objects in the image and their orientations on the ground plane. The same set of convolutional layers is used for the different tasks involved, avoiding the repetition of computations over the same image. Experiments on the KITTI dataset show that our efficiency-oriented method achieves state-of-the-art accuracies for object detection and viewpoint estimation, and is particularly suitable for the recognition of traffic situations from on-board vision systems. Code is available at https://github.com/cguindel/Isi-faster-renn.
Classification
subjects
- Mechanical Engineering
keywords
- convolution; feedforward neural nets; object detection; object recognition; robot vision; traffic engineering computing