Multi-modality Scene Tokenization for Improved Motion Prediction in Autonomous Driving

Konsep Inti

Combining symbolic perception outputs with learned multi-modal scene tokens can significantly improve the accuracy and robustness of motion prediction models for autonomous driving.

Abstrak

The paper proposes a novel method called MoST (Multi-modality Scene Tokenization) that efficiently combines existing symbolic representations (e.g. bounding boxes, road graphs) with learned scene tokens encoding multi-modal sensor information (camera images and LiDAR point clouds) to improve motion prediction performance.
The key steps are:

Image Encoding and Point-Pixel Association: Leveraging pre-trained 2D image models like SAM ViT-H to extract rich visual features and associate them with corresponding 3D LiDAR points.
Scene Decomposition: Grouping the scene into disjoint elements representing ground regions, detected agents, and open-set objects.
Scene Element Feature Extraction: Deriving a compact feature representation for each scene element by fusing its image features, geometry features, and temporal information.

The authors augment the Waymo Open Motion Dataset (WOMD) with camera embeddings to create a large-scale multi-modal dataset for motion prediction research. Experiments on WOMD show that MoST leads to significant performance improvements over state-of-the-art baselines, with 6.6% relative gain in soft mAP and 10.3% in minADE. MoST also demonstrates strong robustness to perception and road graph failures.

Statistik

The Waymo Open Motion Dataset (WOMD) contains 3D bounding boxes, road graphs, and traffic signals for motion prediction.
The authors have augmented WOMD with camera embeddings from pre-trained models like SAM ViT-H, CLIP, and DINO v2.
The dataset is divided into training, validation, and testing subsets with a 70:15:15 ratio.

Kutipan

"Many existing motion prediction approaches rely on symbolic perception outputs to generate agent trajectories, such as bounding boxes, road graph information and traffic lights. This symbolic representation is a high-level abstraction of the real world, which may render the motion prediction model vulnerable to perception errors (e.g., failures in detecting open-vocabulary obstacles) while missing salient information from the scene context (e.g., poor road conditions)."
"Rather than choosing strictly between the two approaches, we instead propose combining existing symbolic representations with learned tokens encoding scene information."

Wawasan Utama Disaring Dari

MoST: Multi-modality Scene Tokenization for Motion Prediction

by Norman Mu,Ji... pada arxiv.org 05-01-2024

https://arxiv.org/pdf/2404.19531.pdf

Pertanyaan yang Lebih Dalam

How can the proposed MoST framework be extended to handle dynamic and interactive multi-agent scenarios beyond the current independent prediction setting?

The MoST framework can be extended to handle dynamic and interactive multi-agent scenarios by incorporating a more sophisticated modeling of agent interactions and behaviors. Currently, the framework focuses on predicting the trajectories of individual agents independently. To extend it for multi-agent scenarios, the following enhancements can be considered:

Interaction Modeling: Introduce mechanisms to model interactions between agents, such as social forces, collision avoidance, and cooperation. This can be achieved by incorporating graph neural networks or attention mechanisms to capture dependencies between agents.

Trajectory Forecasting: Instead of predicting individual trajectories, the framework can be modified to predict joint trajectories for groups of agents, considering their interactions and dependencies.

Reinforcement Learning: Incorporate reinforcement learning techniques to learn policies for agents in interactive scenarios, enabling them to adapt their behaviors based on the actions of other agents.

Dynamic Scene Representation: Enhance the scene decomposition approach to dynamically update the scene elements based on the interactions between agents, allowing for real-time adjustments in the predictions.

Evaluation Metrics: Develop new evaluation metrics that assess the performance of the framework in interactive scenarios, considering factors like collision avoidance, social compliance, and overall system efficiency.

By incorporating these enhancements, the MoST framework can effectively handle dynamic and interactive multi-agent scenarios, providing more accurate and realistic predictions for autonomous driving applications.

What are the potential limitations of the current scene decomposition approach, and how could it be improved to handle more complex and cluttered environments?

The current scene decomposition approach in the MoST framework may have limitations when applied to more complex and cluttered environments. Some potential limitations include:

Limited Object Representation: The current approach may struggle to accurately represent complex objects or scenarios that do not fit into predefined categories, leading to information loss and inaccuracies in predictions.

Scalability Issues: In highly cluttered environments with numerous objects, the scene decomposition may become computationally intensive and challenging to scale efficiently.

Dynamic Environments: The approach may not adapt well to dynamic environments where objects move or change rapidly, leading to outdated or inaccurate scene representations.

To improve the scene decomposition approach for handling more complex and cluttered environments, the following strategies can be considered:

Semantic Segmentation: Incorporate semantic segmentation techniques to identify and classify objects in the scene, allowing for a more detailed and accurate representation of the environment.

Instance Segmentation: Implement instance segmentation to differentiate between individual instances of objects, enabling the framework to capture fine-grained details and interactions between objects.

Adaptive Scene Updating: Develop algorithms that can dynamically update the scene decomposition based on real-time sensor inputs, ensuring that the representation remains relevant and up-to-date in dynamic environments.

Hierarchical Representation: Introduce a hierarchical scene representation that can capture objects at different levels of abstraction, from individual entities to larger scene elements, providing a more comprehensive view of the environment.

By addressing these limitations and incorporating advanced techniques for scene decomposition, the MoST framework can enhance its capability to handle complex and cluttered environments effectively.

Given the strong performance of MoST in challenging scenarios, how could the insights from this work be applied to improve the robustness of other perception and prediction tasks in autonomous driving beyond motion forecasting?

The insights from the MoST framework can be applied to improve the robustness of other perception and prediction tasks in autonomous driving by leveraging the following strategies:

Multi-Modal Fusion: Extend the multi-modal fusion approach used in MoST to other perception tasks, such as object detection, semantic segmentation, and scene understanding. By combining information from different sensors and modalities, the robustness and accuracy of perception systems can be enhanced.

Dynamic Scene Encoding: Implement dynamic scene encoding techniques that can adapt to changing environments and varying levels of complexity. This can improve the reliability of perception systems in challenging scenarios.

Interactive Behavior Modeling: Apply the interactive behavior modeling concepts from MoST to predict the actions and intentions of other road users in diverse driving scenarios. This can enhance the safety and efficiency of autonomous driving systems by anticipating and responding to dynamic interactions.

Adversarial Training: Incorporate adversarial training methods to expose perception systems to challenging and adversarial scenarios, improving their resilience to unexpected events and anomalies.

Transfer Learning: Utilize transfer learning techniques to transfer knowledge and insights gained from MoST to other perception and prediction tasks, accelerating the development of robust and reliable autonomous driving systems.

By applying these insights and methodologies to other perception and prediction tasks in autonomous driving, the overall performance and robustness of the systems can be significantly improved, leading to safer and more efficient autonomous vehicles.