Abstract
Learning from demonstration (LfD) is useful in settings where hand-coding behaviour or a reward function is impractical. It has succeeded in a wide range of problems but typically relies on manually generated demonstrations or specially deployed sensors and has not generally been able to leverage the copious demonstrations available in the wild: those that capture behaviours that were occurring anyway using sensors that were already deployed for another purpose, e.g., traffic camera footage capturing demonstrations of natural behaviour of vehicles, cyclists, and pedestrians. We propose video to behaviour (ViBe), a new approach to learn models of behaviour from unlabelled raw video data of a traffic scene collected from a single, monocular, initially uncalibrated camera with ordinary resolution. Our approach calibrates the camera, detects relevant objects, tracks them through time, and uses the resulting trajectories to perform LfD, yielding models of naturalistic behaviour. We apply ViBe to raw videos of a traffic intersection and show that it can learn purely from videos, without additional expert knowledge.
Original language | English |
---|---|
Title of host publication | 2019 International Conference on Robotics and Automation, ICRA 2019 |
Publisher | IEEE |
Pages | 775-781 |
Number of pages | 7 |
ISBN (Electronic) | 978-1-5386-6027-0 |
ISBN (Print) | 978-1-5386-8176-3 |
DOIs | |
Publication status | Published - 1 May 2019 |
Event | 2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: 20 May 2019 → 24 May 2019 |
Publication series
Name | Proceedings - IEEE International Conference on Robotics and Automation |
---|---|
ISSN (Print) | 1050-4729 |
Conference
Conference | 2019 International Conference on Robotics and Automation, ICRA 2019 |
---|---|
Country/Territory | Canada |
City | Montreal |
Period | 20/05/19 → 24/05/19 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.