Scene Detection Classification and Tracking for Self-Driven Vehicle (original) (raw)
Related papers
Deep learning for self-driving cars
Proceedings of the 1st International Workshop on Software Engineering for AI in Autonomous Systems, 2018
Self-driving cars are a hot research topic in science and technology, which has a great influence on social and economic development. Deep learning is one of the current key areas in the field of artificial intelligence research. It has been widely applied in image processing, natural language understanding, and so on. In recent years, more and more deep learning-based solutions have been presented in the field of self-driving cars and have achieved outstanding results. This paper presents a review of recent research on theories and applications of deep learning for self-driving cars. This survey provides a detailed explanation of the developments of self-driving cars and summarizes the applications of deep learning methods in the field of self-driving cars. Then the main problems in self-driving cars and their solutions based on deep learning methods are analyzed, such as obstacle detection, scene recognition, lane detection, navigation and path planning. In addition, the details of some representative approaches for self-driving cars using deep learning methods are summarized. Finally, the future challenges in the applications of deep learning for self-driving cars are given out.
Autonomous Vehicles Perception (AVP) Using Deep Learning: Modeling, Assessment, and Challenges
IEEE Access
Perception is the fundamental task of any autonomous driving system, which gathers all the necessary information about the surrounding environment of the moving vehicle. The decision-making system takes the perception data as input and makes the optimum decision given that scenario, which maximizes the safety of the passengers. This paper surveyed recent literature on autonomous vehicle perception (AVP) by focusing on two primary tasks: Semantic Segmentation and Object Detection. Both tasks play an important role as a vital component of the vehicle's navigation system. A comprehensive overview of deep learning for perception and its decision-making process based on images and LiDAR point clouds is discussed. We discussed the sensors, benchmark datasets, and simulation tools widely used in semantic segmentation and object detection tasks, especially for autonomous driving. This paper acts as a road map for current and future research in AVP, focusing on models, assessment, and challenges in the field.
An Improved Deep Learning Solution for Object Detection in Self-Driving Cars
2020
Reliable object detection is one of the most important requirements of environment perception in autonomous driving. The goal of this research is to find a convenient solution to detect objects in images from the self-driving car medium. Convolutional neural networks (CNNs) are deep neural networks used in image processing, object classification, and object recognition. Therefore, deep convolution networks are employed in this project to identify objects accurately. In order to train and evaluate the neural network, we used BDD100K dataset which is one of the largest open-source datasets in autonomous driving published by Berkeley University. The approach used in the proposed algorithm is to apply the feature pyramid network along with a single-stage object detector, which enhances the accuracy of object detection. In addition, it improves the detection of different scales, especially small ones compared to those of the previous works, leading to increased safety and security in sel...
Application of Deep Learning to Autonomous Robotic Car
International Journal of Computer Applications , 2021
Autonomous machines are becoming prevalent, even more so the advent of autonomous vehicles. While autonomous cars have been around for some time, the endless innovations in this domain have led to the removal of human-in-the loop, hence constantly seeking to remove human input while delivering optimal result. However, safety is a major concern, and users are wary of leaving safety level decisions to machines. There is a rise in road accident caused by autonomous cars, while some have blamed it on human's total trust in machines, and researchers have called for the development of human-level accurate algorithms to tackle decision making using state-of-the-art techniques. Therefore, this paper seeks to use computer vision leveraging on deep learning techniques to detect pedestrians, traffic signs, important objects, and lane lines to infer crucial driver decisions.Mask R-Convolutional Neural Network (CNN) was used for object classification with the aid of transfer learning saving the hassle of training and GPU times. A simple method for collecting data was applied using a wide-anglecamera and using Google TPU to perform real time object recognition without the need for a GPU enabled machine.
OBJECT DETECTION IN TRAFFIC SCENARIOS -A COMPARISON OF TRADITIONAL AND DEEP LEARNING APPROACHES
In the area of computer vision, research on object detection algorithms has grown rapidly as it is the fundamental step for automation, specifically for self-driving vehicles. This work presents a comparison of traditional and deep learning approaches for the task of object detection in traffic scenarios. The handcrafted feature descriptor like Histogram of oriented Gradients (HOG) with a linear Support Vector Machine (SVM) classifier is compared with deep learning approaches like Single Shot Detector (SSD) and You Only Look Once (YOLO), in terms of mean Average Precision (mAP) and processing speed. SSD algorithm is implemented with different backbone architectures like VGG16, MobileNetV2 and ResNeXt50, similarly YOLO algorithm with MobileNetV1 and ResNet50, to compare the performance of the approaches. The training and inference is performed on PASCAL VOC 2007 and 2012 training, and PASCAL VOC 2007 test data respectively. We consider five classes relevant for traffic scenarios, namely, bicycle, bus, car, motorbike and person for the calculation of mAP. Both qualitative and quantitative results are presented for comparison. For the task of object detection, the deep learning approaches outperform the traditional approach both in accuracy and speed. This is achieved at the cost of requiring large amount of data, high computation power and time to train a deep learning approach.
An Improved Deep Network-Based Scene Classification Method for Self-Driving Cars
IEEE Transactions on Instrumentation and Measurement, 2022
A self-driving car is a hot research topic in the field of the intelligent transportation system, which can greatly alleviate traffic jams and improve travel efficiency. Scene classification is one of the key technologies of self-driving cars, which can provide the basis for decision-making in self-driving cars. In recent years, deep learning-based solutions have achieved good results in the problem of scene classification. However, some problems should be further studied in the scene classification methods, such as how to deal with the similarities among different categories and the differences among the same category. To deal with these problems, an improved deep network-based scene classification method is proposed in this article. In the proposed method, an improved faster region with convolutional neural network features (RCNN) network is used to extract the features of representative objects in the scene to obtain local features, where a new residual attention block is added to the Faster RCNN network to highlight local semantics related to driving scenarios. In addition, an improved Inception module is used to extract global features, where a mixed Leaky ReLU and ELU function is presented, to reduce the possible redundancy of the convolution kernel and enhance the robustness. Then, the local features and the global features are fused to realize the scene classification. Finally, a private dataset is built from the public datasets for the specialized application of scene classification in the self-driving field, and the proposed method is tested on the proposed dataset. The experimental results show that the accuracy of the proposed method can reach 94.76%, which is higher than the state-of-theart methods.
Applied Sciences
Deep learning-based classification and detection algorithms have emerged as a powerful tool for vehicle detection in intelligent transportation systems. The limitations of the number of high-quality labeled training samples makes the single vehicle detection methods incapable of accomplishing acceptable accuracy in road vehicle detection. This paper presents detection and classification of vehicles on publicly available datasets by utilizing the YOLO-v5 architecture. This paper’s findings utilize the concept of transfer learning through fine tuning the weights of the pre-trained YOLO-v5 architecture. To employ the concept of transfer learning, extensive data sets of images and videos of the congested traffic patterns were collected by the authors. These datasets were made more comprehensive by pointing various attributes, for instance high- and low-density traffic patterns, occlusions, and different weather circumstances. All of these gathered datasets were manually annotated. Ultim...
Vehicle detection systems for intelligent driving using deep convolutional neural networks
Discover Artificial Intelligence
In the paper, a vision-based vehicle identification system is proposed for autonomous intelligent car driving. The accurate detection of obstacles (vehicles) during intelligent car driving allows avoiding crashes, preventing accidents, saving people’s lives and reducing harm. The vehicle detection system, which uses low-quality images captured by a monocular video camera mounted at the front of the car, is based on convolutional neural networks (CNN). The CNN can extract global features of the images using convolutional layers and achieves more accurate, and faithful contours of vehicles. The CNN structure proposed in the paper provides high-accuracy detection of vehicle images. The experiments that have been performed using GTI dataset demonstrate that the CNN-based vehicle detection system achieves very accurate results and is more robust to different variations of images.