ROAD: The ROad event Awareness Dataset for Autonomous Driving
Abstract
Humans drive in a holistic fashion which entails, in particular, understanding dynamic road events and their evolution. Injecting these capabilities in autonomous vehicles can thus take situational awareness and decision making closer to human-level performance. To this purpose, we introduce the ROad event Awareness Dataset (ROAD) for Autonomous Driving, to our knowledge the first of its kind. ROAD is designed to test an autonomous vehicle's ability to detect road events, defined as triplets composed by an active agent, the action(s) it performs and the corresponding scene locations. ROAD comprises videos originally from the Oxford RobotCar Dataset annotated with bounding boxes showing the location in the image plane of each road event. We benchmark various detection tasks, proposing as a baseline a new incremental algorithm for online road event awareness termed 3D-RetinaNet. We also report the performance on the ROAD tasks of Slowfast and YOLOv5 detectors, as well as that of the winners of the ICCV2021 ROAD challenge, which highlight the challenges faced by situation awareness in autonomous driving. ROAD is designed to allow scholars to investigate exciting tasks such as complex (road) activity detection, future event anticipation and continual learning. The dataset is available at https://github.com/gurkirt/road-dataset; the baseline can be found at https://github.com/gurkirt/3D-RetinaNet.
Keywords
Cite
@article{arxiv.2102.11585,
title = {ROAD: The ROad event Awareness Dataset for Autonomous Driving},
author = {Gurkirt Singh and Stephen Akrigg and Manuele Di Maio and Valentina Fontana and Reza Javanmard Alitappeh and Suman Saha and Kossar Jeddisaravi and Farzad Yousefi and Jacob Culley and Tom Nicholson and Jordan Omokeowa and Salman Khan and Stanislao Grazioso and Andrew Bradley and Giuseppe Di Gironimo and Fabio Cuzzolin},
journal= {arXiv preprint arXiv:2102.11585},
year = {2022}
}
Comments
29 pages, accepted at TPAMI