Continual Learning Strategy in One-Stage Object Detection Framework Based on Experience Replay for Autonomous Driving Vehicle

Jeng-Lun Shieh; Qazi Mazhar ul Haq; Muhamad Amirul Haq; Said Karam; Peter Chondro; De-Qin Gao; Shanq-Jang Ruan

doi:10.3390/s20236777

Sensors (Nov 2020)

Continual Learning Strategy in One-Stage Object Detection Framework Based on Experience Replay for Autonomous Driving Vehicle

Jeng-Lun Shieh,
Qazi Mazhar ul Haq,
Muhamad Amirul Haq,
Said Karam,
Peter Chondro,
De-Qin Gao,
Shanq-Jang Ruan

Affiliations

Jeng-Lun Shieh: Department of Electronic and Computer Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan
Qazi Mazhar ul Haq: Department of Electronic and Computer Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan
Muhamad Amirul Haq: Department of Electronic and Computer Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan
Said Karam: Department of Electronic and Computer Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan
Peter Chondro: Information and Communications Research Laboratories, Embedded Vision and Graphics Technology Department, Division for Embedded System and SoC Technology, Industrial Technology Research Institute, Hsinchu 31057, Taiwan
De-Qin Gao: Information and Communications Research Laboratories, Embedded Vision and Graphics Technology Department, Division for Embedded System and SoC Technology, Industrial Technology Research Institute, Hsinchu 31057, Taiwan
Shanq-Jang Ruan: Department of Electronic and Computer Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan

DOI: https://doi.org/10.3390/s20236777
Journal volume & issue: Vol. 20, no. 23
p. 6777

Abstract

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Object detection is an important aspect for autonomous driving vehicles (ADV), which may comprise of a machine learning model that detects a range of classes. As the deployment of ADV widens globally, the variety of objects to be detected may increase beyond the designated range of classes. Continual learning for object detection essentially ensure a robust adaptation of a model to detect additional classes on the fly. This study proposes a novel continual learning method for object detection that learns new object class(es) along with cumulative memory of classes from prior learning rounds to avoid any catastrophic forgetting. The results of PASCAL VOC 2007 have suggested that the proposed ER method obtains 4.3% of mAP drop compared against the all-classes learning, which is the lowest amongst other prior arts.

Published in Sensors

ISSN: 1424-8220 (Online)
Publisher: MDPI AG
Country of publisher: Switzerland
LCC subjects: Technology: Chemical technology
Website: http://www.mdpi.com/journal/sensors

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