Proximity based automatic data annotation for autonomous driving
Sun, Chen1; Vianney, Jean M. Uwabeza1; Li, Ying2; Chen, Long3; Li, Li4; Wang, Fei-Yue5; Khajepour, Amir1; Cao, Dongpu1
发表期刊IEEE-CAA JOURNAL OF AUTOMATICA SINICA
ISSN2329-9266
2020-03-01
卷号7期号:2页码:395-404
通讯作者Cao, Dongpu(dongpu.cao@uwaterloo.ca)
摘要The recent development in autonomous driving involves high-level computer vision and detailed road scene understanding. Today, most autonomous vehicles employ expensive high quality sensor-set such as light detection and ranging (LIDAR) and HD maps with high level annotations. In this paper, we propose a scalable and affordable data collection and annotation framework, image-to-map annotation proximity (I2MAP), for affordance learning in autonomous driving applications. We provide a new driving dataset using our proposed framework for driving scene affordance learning by calibrating the data samples with available tags from online database such as open street map (OSM). Our benchmark consists of 40 000 images with more than 40 affordance labels under various day time and weather even with very challenging heavy snow. We implemented sample advanced driver-assistance systems (ADAS) functions by training our data with neural networks (NN) and cross-validate the results on benchmarks like KITTI and BDD100K, which indicate the effectiveness of our framework and training models.
关键词Affordance learning autonomous vehicles data synchronization scene understanding
DOI10.1109/JAS.2020.1003033
关键词[WOS]INTEGRATION ; MODEL
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems
WOS类目Automation & Control Systems
WOS记录号WOS:000519596200007
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
被引频次:35[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/38911
专题复杂系统管理与控制国家重点实验室_平行智能技术与系统团队
通讯作者Cao, Dongpu
作者单位1.Univ Waterloo, Dept Mech & Mechatron Engn, Waterloo, ON N2L 3G1, Canada
2.Univ Waterloo, Dept Geog & Environm Management, Waterloo, ON N2L 3G1, Canada
3.Sun Yat Sen Univ, Sch Data & Comp Sci, Zhuhai 519082, Peoples R China
4.Waytous Inc, Qingdao 266109, Peoples R China
5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
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GB/T 7714
Sun, Chen,Vianney, Jean M. Uwabeza,Li, Ying,et al. Proximity based automatic data annotation for autonomous driving[J]. IEEE-CAA JOURNAL OF AUTOMATICA SINICA,2020,7(2):395-404.
APA Sun, Chen.,Vianney, Jean M. Uwabeza.,Li, Ying.,Chen, Long.,Li, Li.,...&Cao, Dongpu.(2020).Proximity based automatic data annotation for autonomous driving.IEEE-CAA JOURNAL OF AUTOMATICA SINICA,7(2),395-404.
MLA Sun, Chen,et al."Proximity based automatic data annotation for autonomous driving".IEEE-CAA JOURNAL OF AUTOMATICA SINICA 7.2(2020):395-404.
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