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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2409.10095 |
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| _version_ | 1866908932101898240 |
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| author | Nguyen, Huy-Dung Bairouk, Anass Maras, Mirjana Xiao, Wei Wang, Tsun-Hsuan Chareyre, Patrick Hasani, Ramin Blanchon, Marc Rus, Daniela |
| author_facet | Nguyen, Huy-Dung Bairouk, Anass Maras, Mirjana Xiao, Wei Wang, Tsun-Hsuan Chareyre, Patrick Hasani, Ramin Blanchon, Marc Rus, Daniela |
| contents | Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However, models trained solely on single-task objectives or generic datasets often lack the contextual information needed for robust performance in complex driving scenarios. In this work, we propose a unified encoder trained on multiple computer vision tasks crucial for urban driving, including depth, pose, and 3D scene flow estimation, as well as semantic, instance, panoptic, and motion segmentation. By integrating these diverse visual cues-similar to human perceptual mechanisms-the encoder captures rich features that enhance navigation-related predictions. We evaluate the model on steering estimation as a downstream task, leveraging its dense latent space. To ensure efficient multi-task learning, we introduce a multi-scale feature network for pose estimation and apply knowledge distillation from a multi-backbone teacher model. Our findings highlight two key findings: (1) the unified encoder achieves competitive performance across all visual perception tasks, demonstrating strong generalization capabilities; and (2) for steering estimation, the frozen unified encoder-leveraging dense latent representations-outperforms both its fine-tuned counterpart and the same frozen model pretrained on generic datasets like ImageNet. These results underline the significance of task-specific visual features and demonstrate the promise of multi-task learning in advancing autonomous driving systems. More details and the pretrained model are available at https://hi-computervision.github.io/uni-encoder/. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_10095 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Human Insights Driven Latent Space for Different Driving Perspectives: A Unified Encoder for Efficient Multi-Task Inference Nguyen, Huy-Dung Bairouk, Anass Maras, Mirjana Xiao, Wei Wang, Tsun-Hsuan Chareyre, Patrick Hasani, Ramin Blanchon, Marc Rus, Daniela Computer Vision and Pattern Recognition Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However, models trained solely on single-task objectives or generic datasets often lack the contextual information needed for robust performance in complex driving scenarios. In this work, we propose a unified encoder trained on multiple computer vision tasks crucial for urban driving, including depth, pose, and 3D scene flow estimation, as well as semantic, instance, panoptic, and motion segmentation. By integrating these diverse visual cues-similar to human perceptual mechanisms-the encoder captures rich features that enhance navigation-related predictions. We evaluate the model on steering estimation as a downstream task, leveraging its dense latent space. To ensure efficient multi-task learning, we introduce a multi-scale feature network for pose estimation and apply knowledge distillation from a multi-backbone teacher model. Our findings highlight two key findings: (1) the unified encoder achieves competitive performance across all visual perception tasks, demonstrating strong generalization capabilities; and (2) for steering estimation, the frozen unified encoder-leveraging dense latent representations-outperforms both its fine-tuned counterpart and the same frozen model pretrained on generic datasets like ImageNet. These results underline the significance of task-specific visual features and demonstrate the promise of multi-task learning in advancing autonomous driving systems. More details and the pretrained model are available at https://hi-computervision.github.io/uni-encoder/. |
| title | Human Insights Driven Latent Space for Different Driving Perspectives: A Unified Encoder for Efficient Multi-Task Inference |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2409.10095 |