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Analysis of the Influence of Training Data on Road User Detection
- Source :
- ICVES, e-Archivo: Repositorio Institucional de la Universidad Carlos III de Madrid, Universidad Carlos III de Madrid (UC3M), e-Archivo. Repositorio Institucional de la Universidad Carlos III de Madrid, instname
- Publication Year :
- 2018
- Publisher :
- IEEE, 2018.
-
Abstract
- In this paper, we discuss the relevance of training data on modern object detectors used on onboard applications. Whereas modern deep learning techniques require large amounts of data, datasets with typical scenarios for autonomous vehicles are scarce and have a reduced number of samples. We conduct a comprehensive set of experiments to understand the effect of using a combination of two relatively small datasets to train an end-to-end object detector, based on the popular Faster R-CNN and enhanced with orientation estimation capabilities. We also test the adequacy of training models using partially available ground-truth labels, as a consequence of combining datasets aimed at different applications. Data augmentation is also introduced into the training pipeline. Results show a significant performance improvement in our exemplary case as a result of the higher variability of the training samples, thus opening a new way to improve the detection performance independently from the detector architecture. This work was supported by the Spanish Government through the CICYT projects TRA2015-63708-R and TRA2016-78886-C3-1-R, and the Comunidad de Madrid through SEGVAUTO-TRIES (S2013/MIT-2713). Publicado
- Subjects :
- Object detection
Computer science
Feature extraction
02 engineering and technology
010501 environmental sciences
Machine learning
computer.software_genre
01 natural sciences
Ingeniería Industrial
Set (abstract data type)
0202 electrical engineering, electronic engineering, information engineering
Training
Proposals
Relevance (information retrieval)
0105 earth and related environmental sciences
business.industry
Deep learning
Detector
Detectors
Pipeline (software)
Task analysis
020201 artificial intelligence & image processing
Artificial intelligence
Performance improvement
business
Estimation
computer
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES)
- Accession number :
- edsair.doi.dedup.....6af6e492c28b5fba37c6de8fe1e12782