悪天候に依存しない自動運転知覚のための時間相関と展開正則化フレームワーク
Adverse Weather-Independent Framework Towards Autonomous Driving Perception through Temporal Correlation and Unfolded Regularization
悪天候下の自動運転知覚において、晴天画像を参照せず、任意の悪天候に汎化可能なAdventフレームワークを提案。時間相関と展開正則化により、複数の悪天候が混在する状況でも頑健な知覚を実現する。
詳しい要約
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著者: Wei-Bin Kou, Guangxu Zhu, Rongguang Ye, Jingreng Lei, Shuai Wang, Qingfeng Lin, Ming Tang, Yik-Chung Wu
分類: cs.RO
原文アブストラクト
Various adverse weather conditions such as fog and rain pose a significant challenge to autonomous driving (AD) perception tasks like semantic segmentation, object detection, etc. The common domain adaption strategy is to minimize the disparity between images captured in clear and adverse weather conditions. However, domain adaption faces two challenges: (I) it typically relies on utilizing clear image as a reference, which is challenging to obtain in practice; (II) it generally targets single adverse weather condition and performs poorly when confronting the mixture of multiple adverse weather conditions. To address these issues, we introduce a reference-free and Adverse weather condition-independent (Advent) framework (rather than a specific model architecture) that can be implemented by various backbones and heads. This is achieved by leveraging the homogeneity over short durations, getting rid of clear reference and being generalizable to arbitrary weather condition. Specifically, Advent includes three integral components: (I) Locally Sequential Mechanism (LSM) leverages temporal correlations between adjacent frames to achieve the weather-condition-agnostic effect thanks to the homogeneity behind arbitrary weather condition; (II) Globally Shuffled Mechanism (GSM) is proposed to shuffle segments processed by LSM from different positions of input sequence to prevent the overfitting to LSM-induced temporal patterns; (III) Unfolded Regularizers (URs) are the deep unfolding implementation of two proposed regularizers to penalize the model complexity to enhance across-weather generalization. We take the semantic segmentation task as an example to assess the proposed Advent framework. Extensive experiments demonstrate that the proposed Advent outperforms existing state-of-the-art baselines with large margins.
