论文标题
行人意图预测:多任务视角
Pedestrian Intention Prediction: A Multi-task Perspective
论文作者
论文摘要
为了全球部署,自动驾驶汽车必须保证行人的安全。这就是为什么事先预测行人意图的原因是自动驾驶汽车最挑战和最具挑战性的任务之一。这项工作试图通过共同预测行人的意图和视觉状态来解决这一问题。就视觉状态而言,尽管以前的工作集中在X-y坐标上,但我们还将预测行人的大小,甚至是整个边界框。该方法是多任务学习方法中的复发性神经网络。它有一个头部可以预测行人对每个人的未来位置的意图,另一个人可以预测行人的视觉状态。 JAAD数据集上的实验表明,与以前的意图预测相比,我们方法的性能的优越性。同样,尽管其简单的体系结构(快2倍),但边界框预测的性能与更复杂的体系结构所产生的架构相当。我们的代码可在线提供。
In order to be globally deployed, autonomous cars must guarantee the safety of pedestrians. This is the reason why forecasting pedestrians' intentions sufficiently in advance is one of the most critical and challenging tasks for autonomous vehicles. This work tries to solve this problem by jointly predicting the intention and visual states of pedestrians. In terms of visual states, whereas previous work focused on x-y coordinates, we will also predict the size and indeed the whole bounding box of the pedestrian. The method is a recurrent neural network in a multi-task learning approach. It has one head that predicts the intention of the pedestrian for each one of its future position and another one predicting the visual states of the pedestrian. Experiments on the JAAD dataset show the superiority of the performance of our method compared to previous works for intention prediction. Also, although its simple architecture (more than 2 times faster), the performance of the bounding box prediction is comparable to the ones yielded by much more complex architectures. Our code is available online.