Learning 3D-aware Egocentric Spatial-Temporal Interaction via Graph Convolutional Networks

Chengxi Li, Yue Meng, Stanley H. Chan, Yi Ting Chen

研究成果: Conference contribution同行評審

28 引文 斯高帕斯(Scopus)

摘要

To enable intelligent automated driving systems, a promising strategy is to understand how human drives and interacts with road users in complicated driving situations. In this paper, we propose a 3D-aware egocentric spatial-temporal interaction framework for automated driving applications. Graph convolution networks (GCN) is devised for interaction modeling. We introduce three novel concepts into GCN. First, we decompose egocentric interactions into ego-thing and ego- stuff interaction, modeled by two GCNs. In both GCNs, ego nodes are introduced to encode the interaction between thing objects (e.g., car and pedestrian), and interaction between stuff objects (e.g., lane marking and traffic light). Second, objects' 3D locations are explicitly incorporated into GCN to better model egocentric interactions. Third, to implement ego-stuff interaction in GCN, we propose a MaskAlign operation to extract features for irregular objects.We validate the proposed framework on tactical driver behavior recognition. Extensive experiments are conducted using Honda Research Institute Driving Dataset, the largest dataset with diverse tactical driver behavior annotations. Our framework demonstrates substantial performance boost over baselines on the two experimental settings by 3.9% and 6.0%, respectively. Furthermore, we visualize the learned affinity matrices, which encode ego-thing and ego-stuff interactions, to showcase the proposed framework can capture interactions effectively.

原文English
主出版物標題2020 IEEE International Conference on Robotics and Automation, ICRA 2020
發行者Institute of Electrical and Electronics Engineers Inc.
頁面8418-8424
頁數7
ISBN(電子)9781728173955
DOIs
出版狀態Published - 5月 2020
事件2020 IEEE International Conference on Robotics and Automation, ICRA 2020 - Paris, France
持續時間: 31 5月 202031 8月 2020

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
ISSN(列印)1050-4729

Conference

Conference2020 IEEE International Conference on Robotics and Automation, ICRA 2020
國家/地區France
城市Paris
期間31/05/2031/08/20

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