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- W4287279035 abstract "In this paper, we present a novel end-to-end deep neural network model for autonomous driving that takes monocular image sequence as input, and directly generates the steering control angle. Firstly, we model the end-to-end driving problem as a local path planning process. Inspired by the environmental representation in the classical planning algorithms(i.e. the beam curvature method), pixel-wise orientations are fed into the network to learn direction-aware features. Next, to handle the imbalanced distribution of steering values in training datasets, we propose an improvement on a cost-sensitive loss function named SteeringLoss2. Besides, we also present a new end-to-end driving dataset, which provides corresponding LiDAR and image sequences, as well as standard driving behaviors. Our dataset includes multiple driving scenarios, such as urban, country, and off-road. Numerous experiments are conducted on both public available LiVi-Set and our own dataset, and the results show that the model using our proposed methods can predict steering angle accurately." @default.
- W4287279035 created "2022-07-25" @default.
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- W4287279035 date "2021-03-09" @default.
- W4287279035 modified "2023-10-16" @default.
- W4287279035 title "Incorporating Orientations into End-to-end Driving Model for Steering Control" @default.
- W4287279035 hasPublicationYear "2021" @default.
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