CRITERIA: a New Benchmarking Paradigm for Evaluating Trajectory Prediction Models for Autonomous Driving
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2023
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| _version_ | 1866914916115415040 |
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| author | Chen, Changhe Pourkeshavarz, Mozhgan Rasouli, Amir |
| author_facet | Chen, Changhe Pourkeshavarz, Mozhgan Rasouli, Amir |
| contents | Benchmarking is a common method for evaluating trajectory prediction models for autonomous driving. Existing benchmarks rely on datasets, which are biased towards more common scenarios, such as cruising, and distance-based metrics that are computed by averaging over all scenarios. Following such a regiment provides a little insight into the properties of the models both in terms of how well they can handle different scenarios and how admissible and diverse their outputs are. There exist a number of complementary metrics designed to measure the admissibility and diversity of trajectories, however, they suffer from biases, such as length of trajectories.
In this paper, we propose a new benChmarking paRadIgm for evaluaTing trajEctoRy predIction Approaches (CRITERIA). Particularly, we propose 1) a method for extracting driving scenarios at varying levels of specificity according to the structure of the roads, models' performance, and data properties for fine-grained ranking of prediction models; 2) A set of new bias-free metrics for measuring diversity, by incorporating the characteristics of a given scenario, and admissibility, by considering the structure of roads and kinematic compliancy, motivated by real-world driving constraints. 3) Using the proposed benchmark, we conduct extensive experimentation on a representative set of the prediction models using the large scale Argoverse dataset. We show that the proposed benchmark can produce a more accurate ranking of the models and serve as a means of characterizing their behavior. We further present ablation studies to highlight contributions of different elements that are used to compute the proposed metrics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2310_07794 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | CRITERIA: a New Benchmarking Paradigm for Evaluating Trajectory Prediction Models for Autonomous Driving Chen, Changhe Pourkeshavarz, Mozhgan Rasouli, Amir Computer Vision and Pattern Recognition Machine Learning Robotics Benchmarking is a common method for evaluating trajectory prediction models for autonomous driving. Existing benchmarks rely on datasets, which are biased towards more common scenarios, such as cruising, and distance-based metrics that are computed by averaging over all scenarios. Following such a regiment provides a little insight into the properties of the models both in terms of how well they can handle different scenarios and how admissible and diverse their outputs are. There exist a number of complementary metrics designed to measure the admissibility and diversity of trajectories, however, they suffer from biases, such as length of trajectories. In this paper, we propose a new benChmarking paRadIgm for evaluaTing trajEctoRy predIction Approaches (CRITERIA). Particularly, we propose 1) a method for extracting driving scenarios at varying levels of specificity according to the structure of the roads, models' performance, and data properties for fine-grained ranking of prediction models; 2) A set of new bias-free metrics for measuring diversity, by incorporating the characteristics of a given scenario, and admissibility, by considering the structure of roads and kinematic compliancy, motivated by real-world driving constraints. 3) Using the proposed benchmark, we conduct extensive experimentation on a representative set of the prediction models using the large scale Argoverse dataset. We show that the proposed benchmark can produce a more accurate ranking of the models and serve as a means of characterizing their behavior. We further present ablation studies to highlight contributions of different elements that are used to compute the proposed metrics. |
| title | CRITERIA: a New Benchmarking Paradigm for Evaluating Trajectory Prediction Models for Autonomous Driving |
| topic | Computer Vision and Pattern Recognition Machine Learning Robotics |
| url | https://arxiv.org/abs/2310.07794 |