Identifying Unknown Instances for Autonomous Driving

    Abstract

    In the past few years, we have seen great progress in perception algorithms, particular through the use of deep learning. However, most existing approaches focus on a few categories of interest, which represent only a small fraction of the potential categories that robots need to handle in the real-world. Thus, identifying objects from unknown classes remains a challenging yet crucial task. In this paper, we develop a novel open-set instance segmentation algorithm for point clouds which can segment objects from both known and unknown classes in a holistic way. Our method uses a deep convolutional neural network to project points into a category-agnostic embedding space in which they can be clustered into instances irrespective of their semantics. Experiments on two large-scale self-driving datasets validate the effectiveness of our proposed method.

    Authors

    Kelvin Wong, Shenlong Wang, Mengye Ren, Ming Liang, Raquel Urtasun

    Conference

    CoRL 2019

    Full Paper

    ‘Identifying Unknown Instances for Autonomous Driving’ (PDF)

    Uber ATG

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    Kelvin Wong
    Kelvin is a research scientist at Uber ATG Toronto. He is also a graduate student at the University of Toronto, where he is supervised by Professor Raquel Urtasun. His research interests include machine learning, computer vision, and their applications to autonomous vehicles.
    Shenlong Wang
    Shenlong Wang is research scientist at Uber ATG Toronto working on the development of self-driving cars. He is also a PhD student at University of Toronto. His advisor is Prof. Raquel Urtasun. He has a broad interest in computer vision, machine learning and robotics. He is particularly interested in 3D vision and deep structured models.
    Mengye Ren
    Mengye Ren is a research scientist at Uber ATG Toronto. He is also a PhD student in the machine learning group of the Department of Computer Science at the University of Toronto. He studied Engineering Science in his undergrad at the University of Toronto. His research interests are machine learning, neural networks, and computer vision. He is originally from Shanghai, China.
    Ming Liang
    Ming Liang is a research scientist at Uber ATG Toronto. Before that he was a senior engineer at Apple SPG. His research interests include neural networks and computer vision.
    Raquel Urtasun
    Raquel Urtasun is the Chief Scientist for Uber ATG and the Head of Uber ATG Toronto. She is also a Professor at the University of Toronto, a Canada Research Chair in Machine Learning and Computer Vision and a co-founder of the Vector Institute for AI. She is a recipient of an NSERC EWR Steacie Award, an NVIDIA Pioneers of AI Award, a Ministry of Education and Innovation Early Researcher Award, three Google Faculty Research Awards, an Amazon Faculty Research Award, a Connaught New Researcher Award, a Fallona Family Research Award and two Best Paper Runner up Prize awarded CVPR in 2013 and 2017. She was also named Chatelaine 2018 Woman of the year, and 2018 Toronto’s top influencers by Adweek magazine