軌道予測におけるオンラインマップの不確かさの生成と活用
Producing and Leveraging Online Map Uncertainty in Trajectory Prediction
オンラインマップ推定に不確かさ推定を追加し、軌道予測と統合することで、学習収束を最大50%高速化し、予測性能を最大15%向上させた。
著者: Xunjiang Gu, Guanyu Song, Igor Gilitschenski, Marco Pavone, Boris Ivanovic
分類: cs.RO, cs.CV, cs.LG
原文アブストラクト
High-definition (HD) maps have played an integral role in the development of modern autonomous vehicle (AV) stacks, albeit with high associated labeling and maintenance costs. As a result, many recent works have proposed methods for estimating HD maps online from sensor data, enabling AVs to operate outside of previously-mapped regions. However, current online map estimation approaches are developed in isolation of their downstream tasks, complicating their integration in AV stacks. In particular, they do not produce uncertainty or confidence estimates. In this work, we extend multiple state-of-the-art online map estimation methods to additionally estimate uncertainty and show how this enables more tightly integrating online mapping with trajectory forecasting. In doing so, we find that incorporating uncertainty yields up to 50% faster training convergence and up to 15% better prediction performance on the real-world nuScenes driving dataset.
