论文标题

改善使用gan和可微分轨迹栅格化的鸟眼视图模型中交通参与者的运动预测

Improving Movement Predictions of Traffic Actors in Bird's-Eye View Models using GANs and Differentiable Trajectory Rasterization

论文作者

Wang, Eason, Cui, Henggang, Yalamanchi, Sai, Moorthy, Mohana, Chou, Fang-Chieh, Djuric, Nemanja

论文摘要

自动驾驶难题中最关键的部分之一是预测周围交通参与者未来运动的任务,这使自动驾驶汽车可以安全有效地计划其在复杂世界中的未来路线。最近,已经提出了许多算法来解决这一重要问题,这受到行业和学术界研究人员越来越兴趣的刺激。一侧基于自上而下的场景栅格化的方法和另一侧的生成对抗网络(GAN)特别成功,并且在交通移动预测的任务上获得了最新的精确度。在本文中,我们建立在这两个方向上,并提出了一个基于栅格的条件GAN架构,该体系结构由有条件区分器的输入的新型可区分的栅格模块提供动力,该模块以可区分的方式将轨迹映射到栅格空间中。这简化了歧视器的任务,因为不符合场景的轨迹更容易辨别,并且允许梯度向后流动强迫发电机更好,更真实的轨迹。我们在大规模的现实世界数据集上评估了提出的方法,表明它的表现优于最先进的基准基准。

One of the most critical pieces of the self-driving puzzle is the task of predicting future movement of surrounding traffic actors, which allows the autonomous vehicle to safely and effectively plan its future route in a complex world. Recently, a number of algorithms have been proposed to address this important problem, spurred by a growing interest of researchers from both industry and academia. Methods based on top-down scene rasterization on one side and Generative Adversarial Networks (GANs) on the other have shown to be particularly successful, obtaining state-of-the-art accuracies on the task of traffic movement prediction. In this paper we build upon these two directions and propose a raster-based conditional GAN architecture, powered by a novel differentiable rasterizer module at the input of the conditional discriminator that maps generated trajectories into the raster space in a differentiable manner. This simplifies the task for the discriminator as trajectories that are not scene-compliant are easier to discern, and allows the gradients to flow back forcing the generator to output better, more realistic trajectories. We evaluated the proposed method on a large-scale, real-world data set, showing that it outperforms state-of-the-art GAN-based baselines.

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