相关论文: Fusion Based Holistic Road Scene Understanding

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…

Scene understanding is an essential technique in semantic segmentation. Although there exist several datasets that can be used for semantic segmentation, they are mainly focused on semantic image segmentation with large deep neural…

In this work, we tackle two vital tasks in automated driving systems, i.e., driver intent prediction and risk object identification from egocentric images. Mainly, we investigate the question: what would be good road scene-level…

This paper describes a method of estimating the traversability of plant parts covering a path and navigating through them for mobile robots operating in plant-rich environments. Conventional mobile robots rely on scene recognition methods…

Understanding complex scenarios from in-vehicle cameras is essential for safely operating autonomous driving systems in densely populated areas. Among these, intersection areas are one of the most critical as they concentrate a considerable…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

This paper introduces a novel synthetic dataset that captures urban scenes under a variety of weather conditions, providing pixel-perfect, ground-truth-aligned images to facilitate effective feature alignment across domains. Additionally,…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

Foreground segmentation is an essential task in the field of image understanding. Under unsupervised conditions, different images and instances always have variable expressions, which make it difficult to achieve stable segmentation…

This study aims to improve the performance and generalization capability of end-to-end autonomous driving with scene understanding leveraging deep learning and multimodal sensor fusion techniques. The designed end-to-end deep neural network…

This paper addresses the problem of building augmented metric representations of scenes with semantic information from RGB-D images. We propose a complete framework to create an enhanced map representation of the environment with…

It is a crucial step to achieve effective semantic segmentation of lane marking during the construction of the lane level high-precision map. In recent years, many image semantic segmentation methods have been proposed. These methods mainly…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…

Road detection is a fundamental task in autonomous navigation systems. In this paper, we consider the case of monocular road detection, where images are segmented into road and non-road regions. Our starting point is the well-known machine…

Intersection scenarios provide the most complex traffic situations in Autonomous Driving and Driving Assistance Systems. Knowing where to stop in advance in an intersection is an essential parameter in controlling the longitudinal velocity…

Enriching the robot representation of the operational environment is a challenging task that aims at bridging the gap between low-level sensor readings and high-level semantic understanding. Having a rich representation often requires…

In autonomous driving, the novel objects and lack of annotations challenge the traditional 3D LiDAR semantic segmentation based on deep learning. Few-shot learning is a feasible way to solve these issues. However, currently few-shot…

The technology of dynamic map fusion among networked vehicles has been developed to enlarge sensing ranges and improve sensing accuracies for individual vehicles. This paper proposes a federated learning (FL) based dynamic map fusion…

Image semantic segmentation aims at the pixel-level classification of images, which has requirements for both accuracy and speed in practical application. Existing semantic segmentation methods mainly rely on the high-resolution input to…