Scene classification
According to one aspect, scene classification may be provided. An image capture device may capture a series of image frames of an environment from a moving vehicle. A temporal classifier may classify image frames with temporal predictions and generate a series of image frames associated with respective temporal predictions based on a scene classification model. The temporal classifier may perform classification of image frames based on a convolutional neural network (CNN), a long short-term memory (LSTM) network, and a fully connected layer. The scene classifier may classify image frames based on a CNN, global average pooling, and a fully connected layer and generate an associated scene prediction based on the scene classification model and respective temporal predictions. A controller of a vehicle may activate or deactivate vehicle sensors or vehicle systems of the vehicle based on the scene prediction.
1. A system for scene classification, comprising:
an image capture device capturing a first series of image frames of an environment from a moving vehicle;
an image segmentation module identifying one or more traffic participants within the environment based on a first convolutional neural network (CNN);
an image masker generating a second series of image frames by masking one or more of the traffic participants from the environment;
a temporal classifier classifying one or more image frames of the second series of image frames with one of two or more temporal predictions and generating a third series of image frames associated with respective temporal predictions based on a scene classification model, wherein the classifying of one or more of the image frames is based on a second CNN, a long short-term memory (LSTM) network, and a first fully connected layer; and
a scene classifier classifying one or more image frames of the third series of image frames based on a third CNN, global average pooling, and a second fully connected layer and generating an associated scene prediction based on the scene classification model and respective temporal predictions,
wherein the first CNN, the second CNN, or the third CNN is a deepnet CNN or a ResNet 50 CNN.
2. The system for scene classification of claim 1 , wherein the two or more temporal predictions include an approaching annotation, an entering annotation, and a passing annotation.
3. The system for scene classification of claim 1 , wherein the system for scene classification is implemented in a vehicle and the vehicle includes a controller activating or deactivating one or more sensors or one or more vehicle systems of the vehicle based on the scene prediction.
4. The system for scene classification of claim 3 , wherein the scene classifier classifies one or more image frames of the third series of image frames with a weather classification including clear, sunny, snowy, rainy, overcast, or foggy; and
wherein the controller activates or deactivates one or more of the sensors or one or more of the vehicle systems of the vehicle based on the weather classification.
5. The system for scene classification of claim 3 , wherein the scene classifier classifies one or more image frames of the third series of image frames with a road surface classification including dry, wet, or snow; and
wherein the controller activates or deactivates one or more of the sensors or one or more of the vehicle systems of the vehicle based on the road surface classification.
6. The system for scene classification of claim 3 , wherein the scene classifier classifies one or more image frames of the third series of image frames with an environment classification including urban, ramp, highway, or local; and
wherein the controller activates or deactivates one or more of the sensors or one or more of the vehicle systems of the vehicle based on the environment classification.
7. The system for scene classification of claim 3 , wherein one or more of the vehicle systems is a LIDAR system or radar system.
8. The system for scene classification of claim 7 , wherein the controller deactivates the LIDAR system or radar system based on the scene prediction being a tunnel.
9. The system for scene classification of claim 3 , wherein the controller prioritizes searching for traffic lights, stop signs, stop lines based on the scene prediction being an intersection.
10. A vehicle equipped with a system for scene classification, comprising:
an image capture device capturing a first series of image frames of an environment from a moving vehicle;
an image segmentation module identifying one or more traffic participants within the environment based on a first convolutional neural network (CNN);
an image masker generating a second series of image frames by masking one or more of the traffic participants from the environment;
a temporal classifier classifying one or more image frames of the second series of image frames with one of two or more temporal predictions and generating a third series of image frames associated with respective temporal predictions based on a scene classification model, wherein the classifying of one or more of the image frames is based on a second CNN, a long short-term memory (LSTM) network, and a first fully connected layer; and
a scene classifier classifying one or more image frames of the third series of image frames based on a third CNN, global average pooling, and a second fully connected layer and generating an associated scene prediction based on the scene classification model and respective temporal predictions; and
a controller activating or deactivating one or more sensors or one or more vehicle systems of the vehicle based on the scene prediction,
wherein the first CNN, the second CNN, or the third CNN is a deepnet CNN or a ResNet 50 CNN.
11. The vehicle of claim 10 , wherein the two or more temporal predictions include an approaching annotation, an entering annotation, and a passing annotation.
12. The vehicle of claim 10 , wherein one or more of the vehicle systems is a LIDAR system or radar system and wherein the controller deactivates the LIDAR system or radar system based on the scene prediction being a tunnel.
13. A system for scene classification, comprising:
an image capture device capturing a first series of image frames of an environment from a moving vehicle;
a temporal classifier classifying one or more image frames of the first series of image frames with one of two or more temporal predictions and generating a second series of image frames associated with respective temporal predictions based on a scene classification model, wherein the classifying of one or more of the image frames is based on a convolutional neural network (CNN), a long short-term memory (LSTM) network, and a first fully connected layer; and
a scene classifier classifying one or more image frames of the second series of image frames based on a second CNN, global average pooling, and a second fully connected layer and generating an associated scene prediction based on the scene classification model and respective temporal predictions,
wherein the CNN or the second CNN is a ResNet 50 CNN.
14. The system for scene classification of claim 13 , wherein the two or more temporal predictions include an approaching annotation, an entering annotation, and a passing annotation.
15. The system for scene classification of claim 13 , wherein the system for scene classification is implemented in a vehicle and the vehicle includes a controller activating or deactivating one or more sensors or one or more vehicle systems of the vehicle based on the scene prediction.
16. The system for scene classification of claim 15 , wherein the scene classifier classifies one or more image frames of the third series of image frames with a weather classification including clear, sunny, snowy, rainy, overcast, or foggy; and
wherein the controller activates or deactivates one or more of the sensors or one or more of the vehicle systems of the vehicle based on the weather classification.
17. The system for scene classification of claim 15 , wherein the scene classifier classifies one or more image frames of the third series of image frames with a road surface classification including dry, wet, or snow; and
wherein the controller activates or deactivates one or more of the sensors or one or more of the vehicle systems of the vehicle based on the road surface classification.