Yu Yao, Mingze Xu, Chiho Choi, David J. Crandall, Ella M. Atkins, and Behzad Dariush
This repo contains the source code of future vehicle localization (FVL)[1], implemented in Keras with tensorflow backend.
💥 ATTENTION (05/20/2019): The HEV-I dataset is now available. Please follow the instructions on the website to get access to it.
💥 ATTENTION (03/2019): The current repo is a placeholder. The original Keras code is not released yet due to the HRI authority issue. The readers are redirected to a pytorch implementation of the paper.
Following dependencies (or newer version):
python3.5 or python3.6
tensorflow-gpu=1.1.0
keras=1.1.0.
The RNN encoder-decoder model:
To train the model, run
cd train
sh run_train.sh
Check the command line arguments by python train.py --help
To test the trained model, run
cd test
sh run_test.sh
We tested our model
Test results on HEV-I dataset:
| Models | Easy Cases | Challenging Cases | All Cases |
|---|---|---|---|
| Linear | 31.49 / 17.04 / 0.68 | 107.93 / 56.29 / 0.33 | 72.37 / 38.04 / 0.50 |
| ConstAccel | 20.82 / 13.86 / 0.74 | 90.33 / 49.06 / 0.35 | 58.00 / 28.05 / 0.53 |
| Conv1D [2] | 18.84 / 12.09 / 0.75 | 37.95 / 20.97 / 0.64 | 29.06 / 16.84 / 0.69 |
| RNN-ED-X | 23.57 / 11.96 / 0.74 | 43.15 / 22.24 / 0.60 | 34.04 / 17.46 / 0.67 |
| RNN-ED-XE | 22.28 / 11.60 / 0.74 | 42.27 / 22.39 / 0.61 | 32.97 / 17.37 / 0.67 |
| RNN-ED-XO | 17.45 / 8.68 / 0.78 | 32.61 / 16.72 / 0.66 | 25.56 / 12.98 / 0.72 |
| RNN-ED-XOE | 16.72 / 8.52 / 0.80 | 32.05 / 16.63 / 0.66 | 24.92 / 12.86 / 0.73 |
Test results on KITTI dataset:
| Models | FDE | ADE | FIOU |
|---|---|---|---|
| Linear | 78.19 | 38.21 | 0.33 |
| ConstAccel | 55.66 | 25.78 | 0.39 |
| Conv1D [2] | 44.13 | 24.38 | 0.49 |
| Ours | 37.11 | 17.88 | 0.53 |
If you found the repo is useful, please feel free to cite our paper:
@article{yao2018egocentric,
title={Egocentric Vision-based Future Vehicle Localization for Intelligent Driving Assistance Systems},
author={Yao, Yu and Xu, Mingze and Choi, Chiho and Crandall, David J and Atkins, Ella M and Dariush, Behzad},
journal={arXiv preprint arXiv:1809.07408},
year={2018}
}
[1] Yao Y, Xu M, Choi C, Crandall DJ, Atkins EM, Dariush B. Egocentric Vision-based Future Vehicle Localization for Intelligent Driving Assistance Systems. arXiv preprint arXiv:1809.07408. 2018 Sep 19.
[2] Yagi T, Mangalam K, Yonetani R, Sato Y. Future person localization in first-person videos. InProceedings of the IEEE Conference on Computer Vision and Pattern Recognition 2018 (pp. 7593-7602).