Multi-Task Perception System for Autonomous Vehicles

A production-ready, scalable multi-task perception system for autonomous vehicles, capable of handling semantic segmentation, object detection, classification, and depth estimation tasks simultaneously.

Features

• Multi-Task Learning: Jointly train multiple perception tasks with uncertainty weighting
• Scalable Architecture: Designed for deployment on vehicles
• Production-Ready: Includes distributed training, experiment tracking, and model export
• Safety-First: Comprehensive validation and testing framework
• Real-Time Performance: Optimized for edge deployment on automotive hardware

Tasks

1. Semantic Segmentation

   • Road, lane, vehicle, and pedestrian segmentation
   • High-precision pixel-level classification

2. Object Detection

   • Vehicle, pedestrian, and traffic light detection
   • Anchor-based detection with FPN

3. Classification

   • Stain/no-stain classification
   • Binary classification with uncertainty

4. Depth Estimation

   • Monocular depth estimation
   • Metric depth prediction

Architecture

• Backbone: ResNet50 with Feature Pyramid Network (FPN)
• Task Heads: Specialized decoders for each task
• Loss: Multi-task loss with uncertainty weighting
• Training: Distributed training with mixed precision

Multi-Task Loss Function

The model uses uncertainty weighting to automatically balance the losses from different tasks. For each task $t$, the loss is weighted by the inverse of the task's uncertainty $\sigma_t$:

Lₜ = ∑ [ Lᵢ / σᵢ² ] + log(σᵢ), for i = 1 to T

where:

• $\mathcal{L}_t$ is the loss for task $t$
• $\sigma_t$ is the learnable uncertainty parameter for task $t$
• $T$ is the total number of tasks

Requirements

pip install -r requirements.txt

Data Structure

data/
├── train/
│   ├── images/
│   ├── semantic/
│   ├── detection/
│   ├── classification/
│   └── depth/
├── val/
└── test/

Training

1. Configure training parameters in configs/config.yaml
2. Run training:

   python train.py

Deployment

1. Export model to ONNX:

   python export.py

2. Deploy to target hardware using vendor SDK

Monitoring

• TensorBoard: Training metrics and visualizations
• Weights & Biases: Experiment tracking and model management
• Logging: Comprehensive logging for debugging and monitoring

Safety & Validation

• Unit tests for all components
• Integration tests for end-to-end pipeline
• Simulation testing in CARLA/LGSVL
• Real-world validation on test vehicles

Performance

• Latency: < 100ms on target hardware
• Accuracy: State-of-the-art on all tasks
• Scalability: Designed for scaling!

Contributing

1. Fork the repository
2. Create a feature branch
3. Submit a pull request

License

This project is licensed under the MIT License - see the LICENSE file for details.

Citation

If you use this code in your research, please cite the following papers:

@inproceedings{kendall2018multi,
  title={Multi-task learning using uncertainty to weigh losses for scene geometry and semantics},
  author={Kendall, Alex and Gal, Yarin and Cipolla, Roberto},
  booktitle={Proceedings of the IEEE conference on computer vision and pattern recognition},
  pages={7482--7491},
  year={2018}
}

@inproceedings{lin2017feature,
  title={Feature pyramid networks for object detection},
  author={Lin, Tsung-Yi and Doll{\'a}r, Piotr and Girshick, Ross and He, Kaiming and Hariharan, Bharath and Belongie, Serge},
  booktitle={Proceedings of the IEEE conference on computer vision and pattern recognition},
  pages={2117--2125},
  year={2017}
}

@inproceedings{ren2015faster,
  title={Faster r-cnn: Towards real-time object detection with region proposal networks},
  author={Ren, Shaoqing and He, Kaiming and Girshick, Ross and Sun, Jian},
  booktitle={Advances in neural information processing systems},
  pages={91--99},
  year={2015}
}

Contact

For questions and support, please open an issue.