قطعه‌بندی معنایی تصاویر خودروهای خودران با بهره‌گیری از تکنیک معلم-دانش‌آموز

نوع مقاله : مقاله پژوهشی

نویسندگان

1 کارشناسی ارشد،دانشگاه علم و صنعت، تهران، ایران

2 استادیار، دانشگاه علم و صنعت، تهران، ایران

چکیده

قطعه‌بندی معنایی یکی از رایج‌ترین خروجی‌های پردازش تصویری برای خودروهای خودران مجهز به بینایی است. مدل‌های مبتنی بر یادگیری عمیق جهت یاد گرفتن ویژگی‌های محیطی جدید و با دامنه متفاوت نیازمند در اختیار داشتن انبوهی از داده هستند. اما فرآیند برچسب‌گذاری دستی این حجم از داده توسط انسان بسیار زمان‌بر خواهد بود. در حالی که رویکرد بسیاری از مقالات مبتنی بر آموزش مدل‌های یادگیری عمیق با روش نظارتی است، در این مقاله از روش نیمه نظارتی جهت اعمال قطعه‌بندی معنایی بهره گرفته می‌شود. به‌طور دقیق‌تر در این پژوهش، روش معلم- دانش‌آموز جهت برقراری تعامل میان مدل‌های یادگیری عمیق به‌ کار گرفته می‌شود. در ابتدا مدل‌های DABNet و ContextNet در جایگاه معلم با استفاده از پایگاه داده BDD100K آموزش داده می‌شوند. با توجه به اهمیت قابلیت تعمیم پذیری و مقاوم بودن مدل‌های مورد استفاده در خودروهای خودران، این معیارهای شبکه‌های معلم با شبیه‌سازی در نرم‌افزار CARLA مورد ارزیابی قرار گرفته‌اند. سپس شبکه‌های معلم، پایگاه داده Cityscapes را به‌طور کامل و بدون دخالت انسان در فرآیند آموزش با بهره‌گیری از یادگیری نیمه- نظارتی به مدل FastSCNN آموزش داده‌اند. برخلاف سایر رویکردهای نیمه- نظارتی، وجود دو پایگاه داده با اختلاف دامنه قابل توجه، روش معلم- دانش‌آموز را بیشتر به چالش خواهد کشید. نتایج نشان می‌دهد عملکرد مدل دانش‌آموز در کلاس‌هایی نظیر خودرو، انسان و جاده که شناسایی آن‌ها از مهم‌ترین اولویت‌های خودرو خودران است به‌ترتیب به میزان 2/1%، 3% و 8/3% با برچسب‌گذاری دستی اختلاف دارد. همچنین میانگین دقت مدل دانش‌آموز نیز تنها 5/4% اختلاف عملکرد با مدلی دارد که آماده‌سازی پایگاه داده آن نیازمند صرف زمان بسیار زیاد است.

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