Self-Supervised Representation Learning from Temporal Ordering of Automated Driving Sequences

• URL: http://arxiv.org/abs/2302.09043v3
• Date: Wed, 8 Nov 2023 18:57:10 GMT
• Title: Self-Supervised Representation Learning from Temporal Ordering of Automated Driving Sequences
• Authors: Christopher Lang, Alexander Braun, Lars Schillingmann, Karsten Haug, Abhinav Valada
• Abstract summary: We propose TempO, a temporal ordering pretext task for pre-training region-level feature representations for perception tasks. We embed each frame by an unordered set of proposal feature vectors, a representation that is natural for object detection or tracking systems. Extensive evaluations on the BDD100K, nuImages, and MOT17 datasets show that our TempO pre-training approach outperforms single-frame self-supervised learning methods.
• Score: 49.91741677556553
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Self-supervised feature learning enables perception systems to benefit from the vast raw data recorded by vehicle fleets worldwide. While video-level self-supervised learning approaches have shown strong generalizability on classification tasks, the potential to learn dense representations from sequential data has been relatively unexplored. In this work, we propose TempO, a temporal ordering pretext task for pre-training region-level feature representations for perception tasks. We embed each frame by an unordered set of proposal feature vectors, a representation that is natural for object detection or tracking systems, and formulate the sequential ordering by predicting frame transition probabilities in a transformer-based multi-frame architecture whose complexity scales less than quadratic with respect to the sequence length. Extensive evaluations on the BDD100K, nuImages, and MOT17 datasets show that our TempO pre-training approach outperforms single-frame self-supervised learning methods as well as supervised transfer learning initialization strategies, achieving an improvement of +0.7% in mAP for object detection and +2.0% in the HOTA score for multi-object tracking.

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