期刊论文

中文

计算机应用

1001-9081

2024

44

02

424-431

10.11772/j.issn.1001-9081.2023020155

本校为第一机构

自动驾驶车辆在行驶过程中,需要对行人和车辆同时完成目标检测、实例分割和目标跟踪三个任务.提出一种基于深度学习的环境感知模型同时对三个任务进行多任务学习.首先,通过卷积神经网络对连续帧图像提取时空特征;然后,通过注意力机制对时空特征进行去耦再融合,充分利用任务间的相关性,实现不同任务对时空特征的差异化选择;最后,为平衡不同任务间的学习速率,使用动态加权平均的方式对模型进行训练.在KITTI数据集上的实验结果表明,所提模型在目标检测方面,比CenterTrack模型F1得分提高了0.6个百分点;在目标跟踪方面,比TraDeS(Track to Detect and Segment)模型多目标跟踪精度(MOTA)提高了0.7个百分...

In the process of driving,autonomous vehicles need to complete target detection,instance segmentation and target tracking for pedestrians and vehicles at the same time.An environment perception model was proposed based on deep learning for multi-task learning of these three tasks simultaneously.Firstly,spatio-temporal features were extracted from continuous frame images by Convolutional Neural Network(CNN).Then,the spatio-temporal features were decoupled and refused by attention mechanism,and differential selection of spatio-temporal features was achieved by making full use of the correlation ...