Self-Supervised Steering and Path Labeling for Autonomous Driving

Autor: Andrei Mihalea, Robert-Florian Samoilescu, Adina Magda Florea
Jazyk: angličtina
Rok vydání: 2023
Předmět:
Zdroj: Sensors, Vol 23, Iss 20, p 8473 (2023)
Druh dokumentu: article
ISSN: 23208473
1424-8220
DOI: 10.3390/s23208473
Popis: Autonomous driving is a complex task that requires high-level hierarchical reasoning. Various solutions based on hand-crafted rules, multi-modal systems, or end-to-end learning have been proposed over time but are not quite ready to deliver the accuracy and safety necessary for real-world urban autonomous driving. Those methods require expensive hardware for data collection or environmental perception and are sensitive to distribution shifts, making large-scale adoption impractical. We present an approach that solely uses monocular camera inputs to generate valuable data without any supervision. Our main contributions involve a mechanism that can provide steering data annotations starting from unlabeled data alongside a different pipeline that generates path labels in a completely self-supervised manner. Thus, our method represents a natural step towards leveraging the large amounts of available online data ensuring the complexity and the diversity required to learn a robust autonomous driving policy.
Databáze: Directory of Open Access Journals
Externí odkaz:
Nepřihlášeným uživatelům se plný text nezobrazuje