自律レース向けUNetベースのキーポイント回帰による3Dコーン位置推定
UNet-Based Keypoint Regression for 3D Cone Localization in Autonomous Racing
UNetを用いてコーンのキーポイントを検出し、自律レースにおける3D位置推定精度を従来手法から大幅に改善した研究。
著者: Mariia Baidachna, James Carty, Aidan Ferguson, Joseph Agrane, Varad Kulkarni, Aubrey Agub, Michael Baxendale, Aaron David, Rachel Horton, Elliott Atkinson
分類: cs.CV, cs.RO
原文アブストラクト
Accurate cone localization in 3D space is essential in autonomous racing for precise navigation around the track. Approaches that rely on traditional computer vision algorithms are sensitive to environmental variations, and neural networks are often trained on limited data and are infeasible to run in real time. We present a UNet-based neural network for keypoint detection on cones, leveraging the largest custom-labeled dataset we have assembled. Our approach enables accurate cone position estimation and the potential for color prediction. Our model achieves substantial improvements in keypoint accuracy over conventional methods. Furthermore, we leverage our predicted keypoints in the perception pipeline and evaluate the end-to-end autonomous system. Our results show high-quality performance across all metrics, highlighting the effectiveness of this approach and its potential for adoption in competitive autonomous racing systems.