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MultiNet: Real-time Joint Semantic Reasoning for Autonomous Driving

Accepted version
Peer-reviewed

Type

Conference Object

Change log

Authors

Teichmann, M 
Weber, M 
Zöllner, M 
Urtasun, R 

Abstract

While most approaches to semantic reasoning have fo- cused on improving performance, in this paper we argue that computational times are very important in order to en- able real time applications such as autonomous driving. To- wards this goal, we present an approach to joint classifi- cation, detection and semantic segmentation via a unified architecture where the encoder is shared amongst the three tasks. Our approach is very simple, can be trained end-to- end and performs extremely well in the challenging KITTI dataset, outperforming the state-of-the-art in the road seg- mentation task. Our approach is also very efficient, allow- ing us to perform inference at more then 23 frames per sec- ond. Training scripts and trained weights to reproduce our results can be found here: https://github.com/ MarvinTeichmann/MultiNet

Description

Keywords

46 Information and Computing Sciences, 4602 Artificial Intelligence

Journal Title

IEEE Intelligent Vehicles Symposium, Proceedings

Conference Name

2018 IEEE Intelligent Vehicles Symposium (IV)

Journal ISSN

1931-0587

Volume Title

2018-June

Publisher

IEEE
Sponsorship
Begabtenstiftung Informatik Karlsruhe, ONR-N00014- 14-1-0232, Qualcomm, Samsung, NVIDIA, Google, EP- SRC and NSERC