Future Object Localization in Autonomous Driving Using Ego-Centric Images and Motions

Seoyoung Jo, Jung Kyung Lee, Je Won Kang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In autonomous driving, future object localization (FOL) is actively used for trajectory prediction and a collision avoidance system. However, it is a challenging task to accurately determine the future locations of nearby pedestrians and vehicles during driving. In this paper, we propose a stochastic FOL using ego-centric images and motions (FOLe) that are generic information obtained from an autonomous agent. The proposed network consists of two staged sub-networks, including a future candidate network (FCN) and a future decision network (FDN) for localization. The FCN is used to generate several hypotheses to inform where an object will probably appear in an image according to its attribution. Our network directly produces the hypotheses in the future using only the ego-centric images and motions, which is trained with an end-to-end manner. The FDN predicts a multi-modal distribution based on the previous results of the FCN and determine the final location by maximizing the probability distribution. Experimental results demonstrate that the proposed model provides a superior performance to the state-of-the-art studies in nuScenes dataset.

Original languageEnglish
Title of host publicationProceedings of 2022 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1035-1039
Number of pages5
ISBN (Electronic)9786165904773
DOIs
StatePublished - 2022
Event2022 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2022 - Chiang Mai, Thailand
Duration: 7 Nov 202210 Nov 2022

Publication series

NameProceedings of 2022 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2022

Conference

Conference2022 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference, APSIPA ASC 2022
Country/TerritoryThailand
CityChiang Mai
Period7/11/2210/11/22

Bibliographical note

Publisher Copyright:
© 2022 Asia-Pacific of Signal and Information Processing Association (APSIPA).

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