Autonomous vehicles need a driving method to be less dependent on localization data to navigate intersections in unstructured environments because these data may not be accurate in such environments. Methods of distinguishing branch roads existing at intersections using vision and applying them to intersection navigation have been studied. Model-based detection methods recognize patterns of the branch roads, but are sensitive to sensor noise and difficult to apply to various complex situations. Therefore, this study proposes a method for detecting the branch roads at the intersection using deep learning. The proposed multi-task deep neural network distinguishes the branch road into a shape of rotated bounding boxes and also recognizes the drivable area to consider obstacles inside the box. Through the output of the network, an occupancy grid map consisting of one branch road at an intersection is obtained, which can be used as an input to the existing motion-planning algorithms that do not consider intersections. Experiments in real environments show that the proposed method detected the branch roads more accurately than the model-based detection method, and the vehicle drove safely at the intersection.


    Access

    Download


    Export, share and cite



    Title :

    Vision-Based Branch Road Detection for Intersection Navigation in Unstructured Environment Using Multi-Task Network


    Contributors:
    Joonwoo Ahn (author) / Yangwoo Lee (author) / Minsoo Kim (author) / Jaeheung Park (author)


    Publication date :

    2022




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Vision based intersection navigation

    Jochem, T.M. / Pomerleau, D.A. / Thorpe, C.E. | IEEE | 1996


    Vision Based Intersection Navigation

    Jochem, T. / Pomerleau, D. / Thorpe, C. et al. | British Library Conference Proceedings | 1996


    Multi-branch model of intersection for vehicle navigation

    Zhang Tao, / Yang Diange, / Li Ting, et al. | IEEE | 2007


    Unstructured Road Region Detection and Road Classification Algorithm Based on Machine Vision

    XIE, Fei / Zhang, Jian / Wang, Chao et al. | British Library Conference Proceedings | 2023


    Unstructured Road Region Detection and Road Classification Algorithm Based on Machine Vision

    Wang, Chao / XIE, Fei / Zhang, Jian et al. | SAE Technical Papers | 2023