Cross-Modal Supervision Based Road Segmentation and Trajectory Prediction with Automotive Radar

Wang Z, Jin Y, Deligiannis A, Fuentes-Michel JC, Vossiek M (2024)

Publication Type: Journal article

Publication year: 2024

Journal

IEEE Robotics and Automation Letters IEEE

Book Volume: 9

Pages Range: 8083-8089

Journal Issue: 9

DOI: 10.1109/LRA.2024.3440093

Abstract

Automotive radar plays a crucial role in providing reliable environmental perception for autonomous driving, particularly in challenging conditions such as high speeds and bad weather. In this domain the deep learning-based method is one of the most promising approaches, but the presence of noisy signals and the complexity of data annotation limit its development. In this paper, we propose a novel approach to address road area segmentation and driving trajectory prediction tasks by introducing Differential Global Positioning System (DGPS) data to generate labels in a cross-modal supervised manner. Then our method employs a multi-task learning-based CNN trained by radar point clouds or occupancy grid maps without any manual modification. This multi-task network not only boosts processing efficiency but also enhances the performances in both tasks, compared with single-task counterparts. Experimental results on a real-world dataset demonstrate the effect of our implementation qualitatively, achieving decimeter-level predictions within a 100 m forward range. Our approach attains an impressive 91.4 % mean Intersection over Union (mIoU) in road area segmentation and exhibits an overall average curve deviation of less than 0.35 m within a range of 100 m forward in trajectory prediction. The source code is available at https://wangzhaoze.github.io/RADxGPS/ .

Authors with CRIS profile

Zhaoze Wang Lehrstuhl für Hochfrequenztechnik Yi Jin Lehrstuhl für Hochfrequenztechnik Martin Vossiek Lehrstuhl für Hochfrequenztechnik

Additional Organisation(s)

Lehrstuhl für Hochfrequenztechnik

Involved external institutions

BMW AG - Bayerische Motoren Werke / BMW Group DE Germany (DE)

How to cite

APA:

Wang, Z., Jin, Y., Deligiannis, A., Fuentes-Michel, J.-C., & Vossiek, M. (2024). Cross-Modal Supervision Based Road Segmentation and Trajectory Prediction with Automotive Radar. IEEE Robotics and Automation Letters, 9(9), 8083-8089. https://doi.org/10.1109/LRA.2024.3440093

MLA:

Wang, Zhaoze, et al. "Cross-Modal Supervision Based Road Segmentation and Trajectory Prediction with Automotive Radar." IEEE Robotics and Automation Letters 9.9 (2024): 8083-8089.

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