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Self-Supervised Steering and Path Labeling for Autonomous Driving
Autonomous driving is a complex task that requires high-level hierarchical reasoning. Various solutions based on hand-crafted rules, multi-modal systems, or end-to-end learning have been proposed over time but are not quite ready to deliver the accuracy and safety necessary for real-world urban auto...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10610600/ https://www.ncbi.nlm.nih.gov/pubmed/37896566 http://dx.doi.org/10.3390/s23208473 |
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author | Mihalea, Andrei Samoilescu, Robert-Florian Florea, Adina Magda |
author_facet | Mihalea, Andrei Samoilescu, Robert-Florian Florea, Adina Magda |
author_sort | Mihalea, Andrei |
collection | PubMed |
description | Autonomous driving is a complex task that requires high-level hierarchical reasoning. Various solutions based on hand-crafted rules, multi-modal systems, or end-to-end learning have been proposed over time but are not quite ready to deliver the accuracy and safety necessary for real-world urban autonomous driving. Those methods require expensive hardware for data collection or environmental perception and are sensitive to distribution shifts, making large-scale adoption impractical. We present an approach that solely uses monocular camera inputs to generate valuable data without any supervision. Our main contributions involve a mechanism that can provide steering data annotations starting from unlabeled data alongside a different pipeline that generates path labels in a completely self-supervised manner. Thus, our method represents a natural step towards leveraging the large amounts of available online data ensuring the complexity and the diversity required to learn a robust autonomous driving policy. |
format | Online Article Text |
id | pubmed-10610600 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-106106002023-10-28 Self-Supervised Steering and Path Labeling for Autonomous Driving Mihalea, Andrei Samoilescu, Robert-Florian Florea, Adina Magda Sensors (Basel) Article Autonomous driving is a complex task that requires high-level hierarchical reasoning. Various solutions based on hand-crafted rules, multi-modal systems, or end-to-end learning have been proposed over time but are not quite ready to deliver the accuracy and safety necessary for real-world urban autonomous driving. Those methods require expensive hardware for data collection or environmental perception and are sensitive to distribution shifts, making large-scale adoption impractical. We present an approach that solely uses monocular camera inputs to generate valuable data without any supervision. Our main contributions involve a mechanism that can provide steering data annotations starting from unlabeled data alongside a different pipeline that generates path labels in a completely self-supervised manner. Thus, our method represents a natural step towards leveraging the large amounts of available online data ensuring the complexity and the diversity required to learn a robust autonomous driving policy. MDPI 2023-10-15 /pmc/articles/PMC10610600/ /pubmed/37896566 http://dx.doi.org/10.3390/s23208473 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Mihalea, Andrei Samoilescu, Robert-Florian Florea, Adina Magda Self-Supervised Steering and Path Labeling for Autonomous Driving |
title | Self-Supervised Steering and Path Labeling for Autonomous Driving |
title_full | Self-Supervised Steering and Path Labeling for Autonomous Driving |
title_fullStr | Self-Supervised Steering and Path Labeling for Autonomous Driving |
title_full_unstemmed | Self-Supervised Steering and Path Labeling for Autonomous Driving |
title_short | Self-Supervised Steering and Path Labeling for Autonomous Driving |
title_sort | self-supervised steering and path labeling for autonomous driving |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10610600/ https://www.ncbi.nlm.nih.gov/pubmed/37896566 http://dx.doi.org/10.3390/s23208473 |
work_keys_str_mv | AT mihaleaandrei selfsupervisedsteeringandpathlabelingforautonomousdriving AT samoilescurobertflorian selfsupervisedsteeringandpathlabelingforautonomousdriving AT floreaadinamagda selfsupervisedsteeringandpathlabelingforautonomousdriving |