ICRA 2020 Interaction Graph - Honda Research Institute USA

ICRA 2020 Interaction Graph

Interaction Graphs for Object Importance Estimation in On-road Driving Video

Zehua Zhang Ashish Tawari Sujitha Martin David Crandall

IEEE International Conference on Robotics and Automation (ICRA) 2020

A vehicle driving along the road is surrounded by many objects, but only a small subset of them influence the driver’s decisions and actions. Learning to estimate the importance of each object on the driver’s real-time decisionmaking may help better understand human driving behavior and lead to more reliable autonomous driving systems. Solving this problem requires models that understand the interactions between the ego-vehicle and the surrounding objects. However, interactions among other objects in the scene can potentially also be very helpful, e.g., a pedestrian beginning to cross the road between the ego-vehicle and the car in front will make the car in front less important. We propose a novel framework for object importance estimation using an interaction graph, in which the features of each object node are updated by interacting with others through graph convolution. Experiments show that our model outperforms state-of-the-art baselines with much less input and pre-processing.

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