都市自動運転のための歩行者運動予測評価
Pedestrian motion prediction evaluation for urban autonomous driving
歩行者運動予測の最先端手法を自動運転フレームワークAutoware Miniに統合し、エストニア・タルトゥの実都市環境で実験して、従来の予測評価指標の有効性を検証した。
著者: Dmytro Zabolotnii, Yar Muhammad, Naveed Muhammad
分類: cs.RO, cs.AI
原文アブストラクト
Pedestrian motion prediction is a key part of the modular-based autonomous driving pipeline, ensuring safe, accurate, and timely awareness of human agents' possible future trajectories. The autonomous vehicle can use this information to prevent any possible accidents and create a comfortable and pleasant driving experience for the passengers and pedestrians. A wealth of research was done on the topic from the authors of robotics, computer vision, intelligent transportation systems, and other fields. However, a relatively unexplored angle is the integration of the state-of-art solutions into existing autonomous driving stacks and evaluating them in real-life conditions rather than sanitized datasets. We analyze selected publications with provided open-source solutions and provide a perspective obtained by integrating them into existing Autonomous Driving framework - Autoware Mini and performing experiments in natural urban conditions in Tartu, Estonia to determine valuability of traditional motion prediction metrics. This perspective should be valuable to any potential autonomous driving or robotics engineer looking for the real-world performance of the existing state-of-art pedestrian motion prediction problem. The code with instructions on accessing the dataset is available at https://github.com/dmytrozabolotnii/autoware_mini.
