We propose a method for off-road drivable area extraction using 3D LiDAR data with the goal of autonomous driving application. A specific deep learning framework is designed to deal with the ambiguous area, which is one of the main challenges in the off-road environment. To reduce the considerable demand for human-annotated data for network training, we utilize the information from vast quantities of vehicle paths and auto-generated obstacle labels. Using these autogenerated annotations, the proposed network can be trained using weakly supervised or semi-supervised methods, which can achieve better performance with fewer human annotations. The experiments on our dataset illustrate the reasonability of our framework and the validity of our weakly and semi-supervised methods.
@article{arxiv.2003.04780,
title = {Off-Road Drivable Area Extraction Using 3D LiDAR Data},
author = {Biao Gao and Anran Xu and Yancheng Pan and Xijun Zhao and Wen Yao and Huijing Zhao},
journal= {arXiv preprint arXiv:2003.04780},
year = {2020}
}
Comments
Accepted by IEEE Intelligent Vehicles Symposium (IV2019)