论文标题
通过在任意自然图像上叠加合成环境来检测深度交通信号灯
Deep traffic light detection by overlaying synthetic context on arbitrary natural images
论文作者
论文摘要
深度神经网络是解决与自动驾驶相关的许多问题的有效解决方案。通过向网络提供流量上下文的真实图像样本,该模型学会了检测和分类感兴趣的要素,例如行人,交通标志和交通信号灯。但是,在时间和精力方面获取和注释真实数据可能非常昂贵。在这种情况下,我们提出了一种生成人造交通相关的培训数据的方法,以进行深度交通灯检测器。这些数据是使用基本的非现实计算机图形生成的,以在与交通域无关的任意图像背景上混合虚假的流量场景。因此,无需注释工作就可以生成大量培训数据。此外,它还解决了流量灯数据集中的固有数据不平衡问题,这主要是由于黄色状态的样本量较低。实验表明,可以实现与来自问题域中实际训练数据获得的结果相媲美的结果,得出平均地图和平均F1得分,每个得分均接近4点。高于使用现实世界参考模型获得的各个指标。
Deep neural networks come as an effective solution to many problems associated with autonomous driving. By providing real image samples with traffic context to the network, the model learns to detect and classify elements of interest, such as pedestrians, traffic signs, and traffic lights. However, acquiring and annotating real data can be extremely costly in terms of time and effort. In this context, we propose a method to generate artificial traffic-related training data for deep traffic light detectors. This data is generated using basic non-realistic computer graphics to blend fake traffic scenes on top of arbitrary image backgrounds that are not related to the traffic domain. Thus, a large amount of training data can be generated without annotation efforts. Furthermore, it also tackles the intrinsic data imbalance problem in traffic light datasets, caused mainly by the low amount of samples of the yellow state. Experiments show that it is possible to achieve results comparable to those obtained with real training data from the problem domain, yielding an average mAP and an average F1-score which are each nearly 4 p.p. higher than the respective metrics obtained with a real-world reference model.