MEAT: エージェント軌跡からのマニューバ抽出
MEAT: Maneuver Extraction from Agent Trajectories
軌跡データセットから左折や車線変更などのマニューバを自動抽出する手法を提案し、予測モデルのマニューバ別評価に応用した。
著者: Julian Schmidt, Julian Jordan, David Raba, Tobias Welz, Klaus Dietmayer
分類: cs.CV, cs.LG, cs.RO
原文アブストラクト
Advances in learning-based trajectory prediction are enabled by large-scale datasets. However, in-depth analysis of such datasets is limited. Moreover, the evaluation of prediction models is limited to metrics averaged over all samples in the dataset. We propose an automated methodology that allows to extract maneuvers (e.g., left turn, lane change) from agent trajectories in such datasets. The methodology considers information about the agent dynamics and information about the lane segments the agent traveled along. Although it is possible to use the resulting maneuvers for training classification networks, we exemplary use them for extensive trajectory dataset analysis and maneuver-specific evaluation of multiple state-of-the-art trajectory prediction models. Additionally, an analysis of the datasets and an evaluation of the prediction models based on the agent dynamics is provided.
