GRAYSCALE-BASED CAMERA PERCEPTION

A method, apparatus, and system for identifying objects based on grayscale images in the operation of an autonomous driving vehicle is disclosed. In one embodiment, one or more first color images are received from a camera mounted at an autonomous driving vehicle (ADV). One or more first grayscale images are generated based on the one or more first color images, which comprises converting each of the one or more first color images into one of the first grayscale images. One or more objects in the one or more first grayscale images are identified based on a pre-trained grayscale perception model. A trajectory for the ADV is planned based at least in part on the identified one or more objects. Control signals are generated to drive the ADV based on the planned trajectory.