OD-XAI: Explainable AI-Based Semantic Object Detection for Autonomous Vehicles

Abstract

In recent years, artificial intelligence (AI) has become one of the most prominent fields in autonomous vehicles (AVs). With the help of AI, the stress levels of drivers have been reduced, as most of the work is executed by the AV itself. With the increasing complexity of models, explainable artificial intelligence (XAI) techniques work as handy tools that allow naive people and developers to understand the intricate workings of deep learning models. These techniques can be paralleled to AI to increase their interpretability. One essential task of AVs is to be able to follow the road. This paper attempts to justify how AVs can detect and segment the road on which they are moving using deep learning (DL) models. We trained and compared three semantic segmentation architectures for the task of pixel-wise road detection. Max IoU scores of 0.9459 and 0.9621 were obtained on the train and test set. Such DL algorithms are called “black box models” as they are hard to interpret due to their highly complex structures. Integrating XAI enables us to interpret and comprehend the predictions of these abstract models. We applied various XAI methods and generated explanations for the proposed segmentation model for road detection in AVs.