Towards Continual Federated Learning of Monocular Depth for Autonomous Vehicles

Engineering notes

Assessment using KITTI and DDAD datasets shows the efficacy of our approach, achieving enhanced continual learning performance over state-of-the-art baseline at standard depth metrics.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

Recent investigations in computer vision for autonomous vehicles have focused on depth estimation from images, owing to its cost-efficiency and adaptability. Monocular depth estimation, using a single camera, is notable for its adaptability compared to binocular techniques that require two fixed cameras. Sophisticated methodologies employ self-supervised deep neural networks, while latest research proposes the use of federated learning to tackle crucial challenges for autonomous driving, such as data privacy, network usage, computation distribution, and connectivity robustness. Nevertheless, continual learning presents an additional challenge for both centralized and federated training, as updating models with novel datasets may induce the forgetting of previously acquired samples, thereby diminishing the model’s versatility. Meanwhile, recent research indicates that experience replay strategies can be used to alleviate forgetting in autonomous driving use cases. We introduce ERFedSCDepth, an innovative approach amalgamating experience replay, federated learning, and deep self-supervision to allow the training of monocular depth estimators with high effectiveness and efficiency. Assessment using KITTI and DDAD datasets shows the efficacy of our approach, achieving enhanced continual learning performance over state-of-the-art baseline at standard depth metrics.

Links and sources

• Official / arXiv page

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