Roadscene2vec: A tool for extracting and embedding road scene-graphs

Abstract

Recently, road scene-graph representations used in conjunction with graph learning techniques have been shown to outperform state-of-the-art deep learning techniques in tasks including action classification, risk assessment, and collision prediction. To enable the exploration of applications of road scene-graph representations, we introduce roadscene2vec: an open-source tool for extracting and embedding road scene-graphs. The goal of roadscene2vec is to enable research into the applications and capabilities of road scene-graphs by providing tools for generating scene-graphs, graph learning models to create spatio-temporal scene-graph embeddings, and tools for visualizing and analyzing scene-graph-based methodologies. The capabilities of roadscene2vec include (i) customized scene-graph generation from either video clips or data from the CARLA simulator, (ii) multiple configurable spatio-temporal graph embedding models and baseline CNN-based models, (iii) built-in functionality for using graph and sequence embeddings for risk assessment and collision prediction applications, (iv) tools for evaluating transfer learning, and (v) utilities for visualizing scene-graphs and analyzing the explainability of graph learning models. We demonstrate the utility of roadscene2vec for these use cases with experimental results and qualitative evaluations for both graph learning models and CNN-based models. roadscene2vec is available at https://github.com/AICPS/roadscene2vec.