مؤتمر
SNE-RoadSeg: Incorporating Surface Normal Information into Semantic Segmentation for Accurate Freespace Detection
| العنوان: | SNE-RoadSeg: Incorporating Surface Normal Information into Semantic Segmentation for Accurate Freespace Detection |
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| المؤلفون: | Fan, Rui, Wang, Hengli, Cai, Peide, Liu, Ming |
| سنة النشر: | 2020 |
| المجموعة: | The Hong Kong University of Science and Technology: HKUST Institutional Repository |
| مصطلحات موضوعية: | Data-fusion CNN, Freespace detection, Self-driving cars, Semantic driving scene segmentation, Surface normal |
| الوصف: | Freespace detection is an essential component of visual perception for self-driving cars. The recent efforts made in data-fusion convolutional neural networks (CNNs) have significantly improved semantic driving scene segmentation. Freespace can be hypothesized as a ground plane, on which the points have similar surface normals. Hence, in this paper, we first introduce a novel module, named surface normal estimator (SNE), which can infer surface normal information from dense depth/disparity images with high accuracy and efficiency. Furthermore, we propose a data-fusion CNN architecture, referred to as RoadSeg, which can extract and fuse features from both RGB images and the inferred surface normal information for accurate freespace detection. For research purposes, we publish a large-scale synthetic freespace detection dataset, named Ready-to-Drive (R2D) road dataset, collected under different illumination and weather conditions. The experimental results demonstrate that our proposed SNE module can benefit all the state-of-the-art CNNs for freespace detection, and our SNE-RoadSeg achieves the best overall performance among different datasets. © 2020, Springer Nature Switzerland AG. |
| نوع الوثيقة: | conference object |
| اللغة: | English |
| تدمد: | 0302-9743 |
| العلاقة: | http://repository.ust.hk/ir/Record/1783.1-105778Test; Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), v. 12375, 2020, p. 340-350; https://doi.org/10.1007/978-3-030-58577-8_21Test; http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=0302-9743&rft.volume=vTest. 12375 LNCS&rft.issue=&rft.date=2020&rft.spage=340&rft.aulast=Fan&rft.aufirst=R.&rft.atitle=SNE-RoadSeg%3A+Incorporating+Surface+Normal+Information+into+Semantic+Segmentation+for+Accurate+Freespace+Detection&rft.title=Lecture+Notes+in+Computer+Science; http://www.scopus.com/record/display.url?eid=2-s2.0-85092194562&origin=inwardTest |
| DOI: | 10.1007/978-3-030-58577-8_21 |
| الإتاحة: | https://doi.org/10.1007/978-3-030-58577-8_21Test http://repository.ust.hk/ir/Record/1783.1-105778Test http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=0302-9743&rft.volume=vTest. 12375 LNCS&rft.issue=&rft.date=2020&rft.spage=340&rft.aulast=Fan&rft.aufirst=R.&rft.atitle=SNE-RoadSeg%3A+Incorporating+Surface+Normal+Information+into+Semantic+Segmentation+for+Accurate+Freespace+Detection&rft.title=Lecture+Notes+in+Computer+Science http://www.scopus.com/record/display.url?eid=2-s2.0-85092194562&origin=inwardTest |
| رقم الانضمام: | edsbas.AA772ECE |
| قاعدة البيانات: | BASE |
| تدمد: | 03029743 |
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| DOI: | 10.1007/978-3-030-58577-8_21 |