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 auto-generated 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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Off-Road Drivable Area Extraction Using 3D LiDAR Data


    Beteiligte:
    Gao, Biao (Autor:in) / Xu, Anran (Autor:in) / Pan, Yancheng (Autor:in) / Zhao, Xijun (Autor:in) / Yao, Wen (Autor:in) / Zhao, Huijing (Autor:in)


    Erscheinungsdatum :

    2019-06-01


    Format / Umfang :

    3557980 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Drivable Area Segmentation in Deteriorating Road Regions for Autonomous Vehicles using 3D LiDAR Sensor

    Ali, Abdelrahman / Gergis, Mark / Abdennadher, Slim et al. | IEEE | 2021


    DRIVABLE AREA SEGMENTATION IN DETERIORATING ROAD REGIONS FOR AUTONOMOUS VEHICLES USING 3D LIDAR SENSOR

    Ali, Abdelrahman / Gergis, Mark / Abdennadher, Slim et al. | British Library Conference Proceedings | 2021


    Drivable area setting device and drivable area setting method

    SUTO SHUICHI / KONISHI HITOSHI / KATO DAICHI et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    road drivable drone

    KANG JAE YOUNG | Europäisches Patentamt | 2022

    Freier Zugriff

    DRIVABLE AREA SETTING DEVICE AND DRIVABLE AREA SETTING METHOD

    SUTO SHUICHI / KONISHI HITOSHI / KATO DAICHI et al. | Europäisches Patentamt | 2018

    Freier Zugriff