MODNet: Motion and Appearance based Moving Object Detection Network for Autonomous Driving

Abstract

For autonomous driving, moving objects like vehicles and pedestrians are of critical importance as they primarily influence the maneuvering and braking of the car. Typically, they are detected by motion segmentation of dense optical flow augmented by a CNN based object detector for capturing semantics. In this paper, our aim is to jointly model motion and appearance cues in a single convolutional network. We propose a novel two-stream architecture for joint learning of object detection and motion segmentation. We designed three different flavors of our network to establish systematic comparison. It is shown that the joint training of tasks significantly improves accuracy compared to training them independently. Although motion segmentation has relatively fewer data than vehicle detection. The shared fusion encoder benefits from the joint training to learn a generalized representation. We created our own publicly available dataset (KITTI MOD) by extending KITTI object detection to obtain static/moving annotations on the vehicles. We compared against MPNet as a baseline, which is the current state of the art for CNN-based motion detection. It is shown that the proposed two-stream architecture improves the mAP score by 21.5% in KITTI MOD. We also evaluated our algorithm on the non-automotive DAVIS dataset and obtained accuracy close to the state-of-the-art performance. The proposed network runs at 8 fps on a Titan X GPU using a basic VGG16 encoder.