Anomaly Monitoring Framework in Lane Detection With a Generative Adversarial Network

The safety of an automated vehicle requires accurate information of surrounding conditions, because a false sensor output can lead to a fatal accident during driving. Thus, monitoring of abnormalities in every sensor is important for robust perception of the environment. Since it is difficult to obtain anomalous data, it is hard to develop a robust detection algorithm using only a relatively small number of anomalies. In this paper, we propose a data augmentation method for oversampling minority anomalies in lane detection. Using a generative adversarial network that makes the generator learn to estimate the distribution of anomalous data, it generates synthesized minority anomalies. The generated anomalies are used to train an anomaly detection network while minimizing latency for use in real situations. During training, the generated anomalies, with various mixed quality, are sampled differently according to their quality. This helps the detection network to be optimized with better quality data. Experimental result shows that when using the proposed anomaly detection framework for monitoring lane abnormality, it improves the performance by 12% when compared to the vanilla recurrent neural network.