aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge
Bibliographic record
Abstract
The University of Toronto is one of eight teams competing in the SAE AutoDrive Challenge - a competition to develop a self-driving car by 2020. After placing first at the Year 1 challenge, we are headed to MCity in June 2019 for the second challenge. There, we will interact with pedestrians, cyclists, and cars. For safe operation, it is critical to have an accurate estimate of the position of all objects surrounding the vehicle. The contributions of this work are twofold: First, we present a new object detection and tracking dataset (UofTPed50), which uses GPS to ground truth the position and velocity of a pedestrian. To our knowledge, a dataset of this type for pedestrians has not been shown in the literature before. Second, we present a lightweight object detection and tracking system (aUToTrack) that uses vision, LIDAR, and GPS/IMU positioning to achieve state-of-the-art performance on the KITTI Object Tracking benchmark. We show that aUToTrack accurately estimates the position and velocity of pedestrians, in real-time, using CPUs only. aUToTrack has been tested in closed-loop experiments on a real self-driving car, and we demonstrate its performance on our dataset.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.002 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".