Perception Imitation: Towards Synthesis-free Simulator for Autonomous Vehicles

• URL: http://arxiv.org/abs/2304.09365v1
• Date: Wed, 19 Apr 2023 01:27:02 GMT
• Title: Perception Imitation: Towards Synthesis-free Simulator for Autonomous Vehicles
• Authors: Xiaoliang Ju, Yiyang Sun, Yiming Hao, Yikang Li, Yu Qiao, Hongsheng Li
• Abstract summary: We propose a perception imitation method to simulate results of a certain perception model, and discuss a new route of autonomous driving simulator without data synthesis. Experiments show that our method is effective to model the behavior of learning-based perception model, and can be further applied in the proposed simulation route smoothly.
• Score: 45.27200446670184
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We propose a perception imitation method to simulate results of a certain perception model, and discuss a new heuristic route of autonomous driving simulator without data synthesis. The motivation is that original sensor data is not always necessary for tasks such as planning and control when semantic perception results are ready, so that simulating perception directly is more economic and efficient. In this work, a series of evaluation methods such as matching metric and performance of downstream task are exploited to examine the simulation quality. Experiments show that our method is effective to model the behavior of learning-based perception model, and can be further applied in the proposed simulation route smoothly.

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