相关论文: Visual Attention for Behavioral Cloning in Autonom…

Humans are very good at directing their visual attention toward relevant areas when they search for different types of objects. For instance, when we search for cars, we will look at the streets, not at the top of buildings. The motivation…

Vision-based urban driving is hard. The autonomous system needs to learn to perceive the world and act in it. We show that this challenging learning problem can be simplified by decomposing it into two stages. We first train an agent that…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…

Attention mechanisms have been widely applied in the Visual Question Answering (VQA) task, as they help to focus on the area-of-interest of both visual and textual information. To answer the questions correctly, the model needs to…

Recurrent neural networks with differentiable attention mechanisms have had success in generative and classification tasks. We show that the classification performance of such models can be enhanced by guiding a randomly initialized model…

This article presents the implementation and evaluation of a behavior cloning approach for route following with autonomous cars. Behavior cloning is a machine-learning technique in which a neural network is trained to mimic the driving…

We propose a novel attention model that can accurately attends to target objects of various scales and shapes in images. The model is trained to gradually suppress irrelevant regions in an input image via a progressive attentive process…

Attention has long been proposed by psychologists as important for effectively dealing with the enormous sensory stimulus available in the neocortex. Inspired by the visual attention models in computational neuroscience and the need of…

Visual perception is critically influenced by the focus of attention. Due to limited resources, it is well known that neural representations are biased in favor of attended locations. Using concurrent eye-tracking and functional Magnetic…

Traffic accident anticipation aims to accurately and promptly predict the occurrence of a future accident from dashcam videos, which is vital for a safety-guaranteed self-driving system. To encourage an early and accurate decision, existing…

Humans often learn how to perform tasks via imitation: they observe others perform a task, and then very quickly infer the appropriate actions to take based on their observations. While extending this paradigm to autonomous agents is a…

Recently, deep learning approaches have achieved promising results in various fields of computer vision. In this paper, we investigate the combination of deep learning based methods and depth maps as input images to tackle the problem of…

In this article, we focus on the pre-training of visual autonomous driving agents in the context of imitation learning. Current methods often rely on a classification-based pre-training, which we hypothesise to be holding back from…

We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…

Visual attention has shown usefulness in image captioning, with the goal of enabling a caption model to selectively focus on regions of interest. Existing models typically rely on top-down language information and learn attention implicitly…

In highway scenarios, an alert human driver will typically anticipate early cut-in/cut-out maneuvers of surrounding vehicles using visual cues mainly. Autonomous vehicles must anticipate these situations at an early stage too, to increase…

This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…

Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are…

Vehicle tracking task plays an important role on the internet of vehicles and intelligent transportation system. Beyond the traditional GPS sensor, the image sensor can capture different kinds of vehicles, analyze their driving situation…