See,Attend and Brake:一个基于注意力的端到端驾驶显著图预测模型
See, Attend and Brake: An Attention-based Saliency Map Prediction Model for End-to-End Driving
摘要:
视觉感知是驾驶决策的最关键输入。在这项研究中,我们的目的是了解显着性和驾驶决策之间的关系。我们提出了一种新的基于注意力的显着图预测模型进行制动决策这种方法构建了一个整体模型的驾驶任务,并可以扩展到其他驾驶决策,如转向和加速。所提出的模型是一个深度神经网络模型,它将从输入图像中提取的特征馈送到具有注意力机制的递归神经网络。然后利用预测的显著图进行制动决策。我们使用驾驶注意力数据集BDD-A和显着性数据集CAT 2000进行训练和评估。
英文摘要:
Visual perception is the most critical input for driving decisions. In this study, our aim is to understand relationship between saliency and driving decisions. We present a novel attention-based saliency map prediction model for making braking decisions This approach constructs a holistic model to the driving task and can be extended for other driving decisions like steering and acceleration. The proposed model is a deep neural network model that feeds extracted features from input image to a recurrent neural network with an attention mechanism. Then predicted saliency map is used to make braking decision. We trained and evaluated using driving attention dataset BDD-A, and saliency dataset CAT2000.
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