RIANet: Road Graph and Image Attention Network for Urban Autonomous Driving
Timothy Ha,Jeongwoo Oh,Hojun Chung,Gunmin Lee,Songhwai Oh,Timothy Ha,Jeongwoo Oh,Hojun Chung,Gunmin Lee,Songhwai Oh
In this paper, we present a novel autonomous driving framework, called a road graph and image attention network (RIANet), which computes the attention scores of objects in the image using the road graph feature. The process of the proposed method is as follows: First, the feature encoder module encodes the road graph, image, and additional features of the scene. The attention network module then i...
