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영상기반의 End-to-end 자율주행 알고리즘 개발을 위한 데이터셋 및 평가환경 구축
권순(Soon Kwon),박재형(Jaehyeong Park),정희철(Heechul Jung),정지훈(Jihun Jung),최민국(Min-Kook Choi),Iman R. T.(Iman R. Tayibnapis),이진희(Jin-Hee Lee),원웅재(Woong-Jae Won),김광회(Kwang-Hoe Kim),윤성훈(Sung-Hoon Youn),김태훈(Tae 대한전자공학회 2018 대한전자공학회 학술대회 Vol.2018 No.6
In this paper, we constructed a public dataset for training and evaluation of an algorithm model for Vision based Autonomous Steering Control(V-ASC), and built a benchmark environment to analyze and provide qualitative and quantitative evaluation results. We also developed a baseline V-ASC model based on the handcrafted feature and the newly proposed convolutional neural network (CNN) based end-to-end driving model to verify the evaluation environment of the constructed dataset and simulator. Through the comparative evaluation between the models, we confirmed that the proposed evaluation framework is effective for performance analysis of V-ASC.