# An Image-based Approach of Task-driven Driving Scene Categorization

arXiv: https://arxiv.org/abs/2103.05920 · HTML: https://mlsanity.com/paper/2103.05920/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 17 of its 29 references that are in the map.
- First posted on arXiv 10 Mar 2021.

## Builds on (most cited first, 17 of 17)

- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Unsupervised Feature Learning via Non-Parametric Instance-level Discrimination](https://mlsanity.com/paper/1805.01978/) (2018)
- [Big Self-Supervised Models are Strong Semi-Supervised Learners](https://mlsanity.com/paper/2006.10029/) (2020)
- [LSUN: Construction of a Large-scale Image Dataset using Deep Learning with Humans in the Loop](https://mlsanity.com/paper/1506.03365/) (2015)
- [Contrastive Multiview Coding](https://mlsanity.com/paper/1906.05849/) (2019)
- [Learning deep representations by mutual information estimation and maximization](https://mlsanity.com/paper/1808.06670/) (2018)
- [Learning Representations by Maximizing Mutual Information Across Views](https://mlsanity.com/paper/1906.00910/) (2019)
- [Self-supervised Visual Feature Learning with Deep Neural Networks: A Survey](https://mlsanity.com/paper/1902.06162/) (2019)
- [Revisiting Self-Supervised Visual Representation Learning](https://mlsanity.com/paper/1901.09005/) (2019)
- [Unsupervised Embedding Learning via Invariant and Spreading Instance Feature](https://mlsanity.com/paper/1904.03436/) (2019)
- [Understand Scene Categories by Objects: A Semantic Regularized Scene Classifier Using Convolutional Neural Networks](https://mlsanity.com/paper/1509.06470/) (2015)
- [Place Categorization and Semantic Mapping on a Mobile Robot](https://mlsanity.com/paper/1507.02428/) (2015)
- [Learning Deep NBNN Representations for Robust Place Categorization](https://mlsanity.com/paper/1702.07898/) (2017)
- [Dynamic Traffic Scene Classification with Space-Time Coherence](https://mlsanity.com/paper/1905.12708/) (2019)
- [Traffic scene recognition based on deep cnn and vlad spatial pyramids](https://mlsanity.com/paper/1707.07411/) (2017)

## Abstract (arXiv)

Categorizing driving scenes via visual perception is a key technology for safe driving and the downstream tasks of autonomous vehicles. Traditional methods infer scene category by detecting scene-related objects or using a classifier that is trained on large datasets of fine-labeled scene images. Whereas at cluttered dynamic scenes such as campus or park, human activities are not strongly confined by rules, and the functional attributes of places are not strongly correlated with objects. So how to define, model and infer scene categories is crucial to make the technique really helpful in assisting a robot to pass through the scene. This paper proposes a method of task-driven driving scene categorization using weakly supervised data. Given a front-view video of a driving scene, a set of anchor points is marked by following the decision making of a human driver, where an anchor point is not a semantic label but an indicator meaning the semantic attribute of the scene is different from that of the previous one. A measure is learned to discriminate the scenes of different semantic attributes via contrastive learning, and a driving scene profiling and categorization method is developed based on that measure. Experiments are conducted on a front-view video that is recorded when a vehicle passed through the cluttered dynamic campus of Peking University. The scenes are categorized into straight road, turn road and alerting traffic. The results of semantic scene similarity learning and driving scene categorization are extensively studied, and positive result of scene categorization is 97.17 % on the learning video and 85.44% on the video of new scenes.