Department Publications

In this paper, we introduce a novel road marking bench-mark dataset for road marking detection, addressing the limitations in the existing publicly available datasets such as lack of challenging scenarios, prominence given to lane markings, unavailability of an evaluation script, lack of an-notation formats and lower resolutions. Our dataset consists of 2887 total images with 4706 road marking instances belonging to 11 classes. The images have a high resolution of 1920 × 1080 and capture a wide range of traffic, lighting and weather conditions. We provide road marking an-notations in polygons, bounding boxes and pixel-level segmentation masks to facilitate a diverse range of road marking detection algorithms. The evaluation metrics and the evaluation script we provide, will further promote direct comparison of novel approaches for road marking detection with existing methods. Furthermore, we evaluate the …

Recent work done on traffic sign and traffic light detection focus on improving detection accuracy in complex scenarios, yet many fail to deliver real-time performance, specifically with limited computational resources. In this work, we propose a simple deep learning based end-to-end detection framework, which effectively tackles challenges inherent to traffic sign and traffic light detection such as small size, large number of classes and complex road scenarios. We optimize the detection models using TensorRT and integrate with Robot Operating System to deploy on an Nvidia Jetson AGX Xavier as our embedded device. The overall system achieves a high inference speed of 63 frames per second, demonstrating the capability of our system to perform in real-time. Furthermore, we introduce CeyRo, which is the first ever large-scale traffic sign and traffic light detection dataset for the Sri Lankan context. Our dataset …

Penetration of Intelligent Transport Systems (ITS) applications is slow, particularly in developing countries, mainly due to the costs associated with the two state-of-the-art technologies, Dedicated Short-Range Communication (DSRC) and Cellular-V2x (c-V2x).As a solution, this paper presents a DSRC/Wi-Fi hybrid system and evaluates its performance experimentally. Communication within the Wi-Fi segment is via customized beacons serving a similar function as roadside alerts in DSRC, but with a configurable repetition interval. The results show that Wi-Fi beacons can be received over a 200m range with a packet delivery rate of more than 50%. Considering the effective range and the information update rate, we illustrate several applications that are feasible with the hybrid system in Vehicle-to-Vehicle (V2V) and Infrastructure-to-Vehicle (I2V) modes. With our novel hardware design, the expected functionality can …

Predicting the possible future trajectories of the surrounding dynamic agents is an essential requirement in autonomous driving. These trajectories mainly depend on the surrounding static environment, as well as the past movements of those dynamic agents. Furthermore, the multimodal nature of agent intentions makes the trajectory prediction problem more challenging. All of the existing models consider the target agent as well as the surrounding agents similarly, without considering the variation of physical properties. In this paper, we present a novel deep-learning based framework for multimodal trajectory prediction in autonomous driving, which considers the physical properties of the target and surrounding vehicles such as the object class and their physical dimensions through a weighted attention module, that improves the accuracy of the predictions. Our model has achieved the highest results in the nuScenes trajectory prediction benchmark, out of the models which use rasterized maps to input environment information. Furthermore, our model is able to run in real-time, achieving a high inference rate of over 300 FPS.