Have i reached the intersection: A deep learning-based approach for intersection detection from monocular cameras

Dhaivat Bhatt, Danish Sodhi, Arghya Pal, Vineeth Balasubramanian, Madhava Krishna

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

26 Citations (Scopus)

Abstract

Long-short term memory networks(LSTM) models have shown considerable performance on variety of problems dealing with sequential data. In this paper, we propose a variant of Long-Term Recurrent Convolutional Network(LRCN) to detect road intersection. We call this network as IntersectNet. We pose road intersection detection as binary classification task over sequence of frames. The model combines deep hierarchical visual feature extractor with recurrent sequence model. The model is end to end trainable with capability of capturing the temporal dynamics of the system. We exploit this capability to identify road intersection in a sequence of temporally consistent images. The model has been rigorously trained and tested on various different datasets. We think that our findings could be useful to model behavior of autonomous agent in the real-world.

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
EditorsRichard Vaughan
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages4495-4500
Number of pages6
ISBN (Electronic)9781538626825, 9781538626818
ISBN (Print)9781538626832
DOIs
Publication statusPublished - 2017
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2017 - Vancouver, Canada
Duration: 24 Sept 201728 Sept 2017
http://iros2017.org/
https://ieeexplore.ieee.org/xpl/conhome/8119304/proceeding (Proceedings)

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Publisher IEEE, Institute of Electrical and Electronics Engineers
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2017
Abbreviated titleIROS 2017
Country/TerritoryCanada
CityVancouver
Period24/09/1728/09/17
Internet address

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