イベントカメラと深層学習による自動運転のステアリング予測
Event-based Vision meets Deep Learning on Steering Prediction for Self-driving Cars
イベントカメラの出力に畳み込みニューラルネットを適用し、大規模データセットで車両のステアリング角予測を行い、従来カメラを上回る性能を示した論文。
著者: Ana I. Maqueda, Antonio Loquercio, Guillermo Gallego, Narciso Garcia, Davide Scaramuzza
分類: cs.CV, cs.LG, cs.RO
原文アブストラクト
Event cameras are bio-inspired vision sensors that naturally capture the dynamics of a scene, filtering out redundant information. This paper presents a deep neural network approach that unlocks the potential of event cameras on a challenging motion-estimation task: prediction of a vehicle's steering angle. To make the best out of this sensor-algorithm combination, we adapt state-of-the-art convolutional architectures to the output of event sensors and extensively evaluate the performance of our approach on a publicly available large scale event-camera dataset (~1000 km). We present qualitative and quantitative explanations of why event cameras allow robust steering prediction even in cases where traditional cameras fail, e.g. challenging illumination conditions and fast motion. Finally, we demonstrate the advantages of leveraging transfer learning from traditional to event-based vision, and show that our approach outperforms state-of-the-art algorithms based on standard cameras.
