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Scene understanding is a key technical challenge within the autonomous driving domain. It requires a deep semantic understanding of the entities and relations found within complex physical and social environments that is both accurate and complete. In practice, this can be accomplished by representing entities in a scene and their relations as a knowledge graph (KG). This scene knowledge graph may then be utilized for the task of entity prediction, leading to improved scene understanding. In this paper, we will define and formalize this problem as Knowledge-based Entity Prediction (KEP). KEP aims to improve scene understanding by predicting potentially unrecognized entities by leveraging heterogeneous, high-level semantic knowledge of driving scenes. An innovative neuro-symbolic solution for KEP is presented, based on knowledge-infused learning, which 1) introduces a dataset agnostic ontology to describe driving scenes, 2) uses an expressive, holistic representation of scenes with knowledge graphs, and 3) proposes an effective, non-standard mapping of the KEP problem to the problem of link prediction (LP) using knowledge-graph embeddings (KGE). Using real, complex and high-quality data from urban driving scenes, we demonstrate its effectiveness by showing that the missing entities may be predicted with high precision (0.87 Hits@1) while significantly outperforming the non-semantic/rule-based baselines.
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Knowledge-Based Entity Prediction for Improved Machine Perception in Autonomous Systems
Knowledge-based entity prediction (KEP) is a novel task that aims to improve machine perception in autonomous systems. KEP leverages relational knowledge from heterogeneous sources in predicting potentially unrecognized entities. In this paper, we provide a formal definition of KEP as a knowledge completion task. Three potential solutions are then introduced, which employ several machine learning and data mining techniques. Finally, the applicability of KEP is demonstrated on two autonomous systems from different domains; namely, autonomous driving and smart manufacturing. We argue that in complex real-world systems, the use of KEP would significantly improve machine perception while pushing the current technology one step closer to achieving full autonomy. Keywords Autonomous Vehicles, Task Analysis, Semantics, Process Control, Planning, Data Mining, Accidents, Entity Prediction, Machine Perception, Autonomous Driving, Smart Manufacturing, Event Perception, Knowledge Infused Learning
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- PAR ID:
- 10338949
- Date Published:
- Journal Name:
- IEEE Intelligent Systems
- Volume:
- 37
- Issue:
- 4
- ISSN:
- 1541-1672
- Page Range / eLocation ID:
- 1 to 7
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1109/MIS.2022.3181015
