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Register a new userDenseTNT: Waymo Open Dataset Motion Prediction Challenge 1st Place Solution
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Added by
Junru Gu
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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In autonomous driving, goal-based multi-trajectory prediction methods are proved to be effective recently, where they first score goal candidates, then select a final set of goals, and finally complete trajectories based on the selected goals. However, these methods usually involve goal predictions based on sparse predefined anchors. In this work, we propose an anchor-free model, named DenseTNT, which performs dense goal probability estimation for trajectory prediction. Our model achieves state-of-the-art performance, and ranks 1st on the Waymo Open Dataset Motion Prediction Challenge.
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In an autonomous driving system, it is essential to recognize vehicles, pedestrians and cyclists from images. Besides the high accuracy of the prediction, the requirement of real-time running brings new challenges for convolutional network models. In this report, we introduce a real-time method to detect the 2D objects from images. We aggregate several popular one-stage object detectors and train the models of variety input strategies independently, to yield better performance for accurate multi-scale detection of each category, especially for small objects. For model acceleration, we leverage TensorRT to optimize the inference time of our detection pipeline. As shown in the leaderboard, our proposed detection framework ranks the 2nd place with 75.00% L1 mAP and 69.72% L2 mAP in the real-time 2D detection track of the Waymo Open Dataset Challenges, while our framework achieves the latency of 45.8ms/frame on an Nvidia Tesla V100 GPU.
As autonomous driving systems mature, motion forecasting has received increasing attention as a critical requirement for planning. Of particular importance are interactive situations such as merges, unprotected turns, etc., where predicting individual object motion is not sufficient. Joint predictions of multiple objects are required for effective route planning. There has been a critical need for high-quality motion data that is rich in both interactions and annotation to develop motion planning models. In this work, we introduce the most diverse interactive motion dataset to our knowledge, and provide specific labels for interacting objects suitable for developing joint prediction models. With over 100,000 scenes, each 20 seconds long at 10 Hz, our new dataset contains more than 570 hours of unique data over 1750 km of roadways. It was collected by mining for interesting interactions between vehicles, pedestrians, and cyclists across six cities within the United States. We use a high-accuracy 3D auto-labeling system to generate high quality 3D bounding boxes for each road agent, and provide corresponding high definition 3D maps for each scene. Furthermore, we introduce a new set of metrics that provides a comprehensive evaluation of both single agent and joint agent interaction motion forecasting models. Finally, we provide strong baseline models for individual-agent prediction and joint-prediction. We hope that this new large-scale interactive motion dataset will provide new opportunities for advancing motion forecasting models.
In this technical report, we present key details of our winning panoptic segmentation architecture EffPS_b1bs4_RVC. Our network is a lightweight version of our state-of-the-art EfficientPS architecture that consists of our proposed shared backbone with a modified EfficientNet-B5 model as the encoder, followed by the 2-way FPN to learn semantically rich multi-scale features. It consists of two task-specific heads, a modified Mask R-CNN instance head and our novel semantic segmentation head that processes features of different scales with specialized modules for coherent feature refinement. Finally, our proposed panoptic fusion module adaptively fuses logits from each of the heads to yield the panoptic segmentation output. The Robust Vision Challenge 2020 benchmarking results show that our model is ranked #1 on Microsoft COCO, VIPER and WildDash, and is ranked #2 on Cityscapes and Mapillary Vistas, thereby achieving the overall rank #1 for the panoptic segmentation task.
The research community has increasing interest in autonomous driving research, despite the resource intensity of obtaining representative real world data. Existing self-driving datasets are limited in the scale and variation of the environments they capture, even though generalization within and between operating regions is crucial to the overall viability of the technology. In an effort to help align the research communitys contributions with real-world self-driving problems, we introduce a new large scale, high quality, diverse dataset. Our new dataset consists of 1150 scenes that each span 20 seconds, consisting of well synchronized and calibrated high quality LiDAR and camera data captured across a range of urban and suburban geographies. It is 15x more diverse than the largest camera+LiDAR dataset available based on our proposed diversity metric. We exhaustively annotated this data with 2D (camera image) and 3D (LiDAR) bounding boxes, with consistent identifiers across frames. Finally, we provide strong baselines for 2D as well as 3D detection and tracking tasks. We further study the effects of dataset size and generalization across geographies on 3D detection methods. Find data, code and more up-to-date information at http://www.waymo.com/open.
Due to the stochasticity of human behaviors, predicting the future trajectories of road agents is challenging for autonomous driving. Recently, goal-based multi-trajectory prediction methods are proved to be effective, where they first score over-sampled goal candidates and then select a final set from them. However, these methods usually involve goal predictions based on sparse pre-defined anchors and heuristic goal selection algorithms. In this work, we propose an anchor-free and end-to-end trajectory prediction model, named DenseTNT, that directly outputs a set of trajectories from dense goal candidates. In addition, we introduce an offline optimization-based technique to provide multi-future pseudo-labels for our final online model. Experiments show that DenseTNT achieves state-of-the-art performance, ranking 1st on the Argoverse motion forecasting benchmark and being the 1st place winner of the 2021 Waymo Open Dataset Motion Prediction Challenge.
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