In this work, a deep learning approach has been developed to carry out road detection using only LIDAR data. Starting from an unstructured point cloud, top-view images encoding several basic statistics such as mean elevation and density are generated. By considering a top-view representation, road detection is reduced to a single-scale problem that can be addressed with a simple and fast fully convolutional neural network (FCN). The FCN is specifically designed for the task of pixel-wise semantic segmentation by combining a large receptive field with high-resolution feature maps. The proposed system achieved excellent performance and it is among the top-performing algorithms on the KITTI road benchmark. Its fast inference makes it particularly suitable for real-time applications.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fast LIDAR-based road detection using fully convolutional neural networks


    Beteiligte:


    Erscheinungsdatum :

    01.06.2017


    Format / Umfang :

    493310 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Fast LIDAR-Based Road Detection Using Fully Convolutional Neural Networks

    Caltagirone, Luca / Scheidegger, Samuel / Svensson, Lennart et al. | British Library Conference Proceedings | 2017


    LIDAR-based driving path generation using fully convolutional neural networks

    Caltagirone, Luca / Bellone, Mauro / Svensson, Lennart et al. | IEEE | 2017


    LiDAR Data Segmentation in Off-Road Environment Using Convolutional Neural Networks (CNN)

    Dabbiru, Lalitha / Goodin, Chris / Scherrer, Nicklaus et al. | British Library Conference Proceedings | 2020


    LiDAR Data Segmentation in Off-Road Environment Using Convolutional Neural Networks (CNN)

    Goodin, Chris / Carruth, Daniel / Dabbiru, Lalitha et al. | SAE Technical Papers | 2020


    LiDAR Data Segmentation in Off-Road Environment Using Convolutional Neural Networks (CNN)

    Dabbiru, Lalitha / Goodin, Chris / Scherrer, Nicklaus et al. | British Library Conference Proceedings | 2020