相关论文: Real-Time Road Segmentation Using LiDAR Data Proce…

LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…

Semantic segmentation and lane detection are crucial tasks in autonomous driving systems. Conventional approaches predominantly rely on deep neural networks (DNNs), which incur high energy costs due to extensive analog-to-digital…

In this paper, we address semantic segmentation of road-objects from 3D LiDAR point clouds. In particular, we wish to detect and categorize instances of interest, such as cars, pedestrians and cyclists. We formulate this problem as a point-…

One of the most common tasks in medical imaging is semantic segmentation. Achieving this segmentation automatically has been an active area of research, but the task has been proven very challenging due to the large variation of anatomy…

LiDAR-based semantic segmentation is critical in the fields of robotics and autonomous driving as it provides a comprehensive understanding of the scene. This paper proposes a lightweight and efficient projection-based semantic segmentation…

Real-time semantic segmentation of LiDAR data is crucial for autonomously driving vehicles, which are usually equipped with an embedded platform and have limited computational resources. Approaches that operate directly on the point cloud…

Convolutional Neural Networks (CNN) are successfully used for various visual perception tasks including bounding box object detection, semantic segmentation, optical flow, depth estimation and visual SLAM. Generally these tasks are…

Roof-mounted spinning LiDAR sensors are widely used by autonomous vehicles. However, most semantic datasets and algorithms used for LiDAR sequence segmentation operate on $360^\circ$ frames, causing an acquisition latency incompatible with…

Pixel-wise street segmentation of photographs taken from a drivers perspective is important for self-driving cars and can also support other object recognition tasks. A framework called SST was developed to examine the accuracy and…

This paper proposes a spatiotemporal architecture with a deep neural network (DNN) for road surface conditions and types classification using LiDAR. It is known that LiDAR provides information on the reflectivity and number of point clouds…

Synthetic aperture radar (SAR) data is becoming increasingly available to a wide range of users through commercial service providers with resolutions reaching 0.5m/px. Segmenting SAR data still requires skilled personnel, limiting the…

This paper presents a novel method for ground segmentation in Velodyne point clouds. We propose an encoding of sparse 3D data from the Velodyne sensor suitable for training a convolutional neural network (CNN). This general purpose approach…

In this paper, we investigate how field programmable gate arrays can serve as hardware accelerators for real-time semantic segmentation tasks relevant for autonomous driving. Considering compressed versions of the ENet convolutional neural…

Road intersections data have been used across different geospatial applications and analysis. The road network datasets dating from pre-GIS years are only available in the form of historical printed maps. Before they can be analyzed by a…

Image segmentation is a fundamental and challenging problem in computer vision with applications spanning multiple areas, such as medical imaging, remote sensing, and autonomous vehicles. Recently, convolutional neural networks (CNNs) have…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Lane detection algorithms are crucial for the development of autonomous vehicles technologies. The more extended approach is to use cameras as sensors. However, LIDAR sensors can cope with weather and light conditions that cameras can not.…

Modern mobile neural networks with a reduced number of weights and parameters do a good job with image classification tasks, but even they may be too complex to be implemented in an FPGA for video processing tasks. The article proposes…

Understanding the semantic characteristics of the environment is a key enabler for autonomous robot operation. In this paper, we propose a deep convolutional neural network (DCNN) for the semantic segmentation of a LiDAR scan into the…

Convolutional neural networks (CNN) have made significant advances in detecting roads from satellite images. However, existing CNN approaches are generally repurposed semantic segmentation architectures and suffer from the poor delineation…