The classification and extraction of road markings and lanes are of critical importance to infrastructure assessment, planning and road safety. We present a pipeline for the accurate segmentation and extraction of rural road surface objects in 3D lidar point-cloud, as well as a method to extract geometric parameters belonging to tar seal. To decrease the computational resources needed, the point-clouds were aggregated into a 2D image space before being transformed using affine transformations. The Mask R-CNN algorithm is then applied to the transformed image space to localize, segment and classify the road objects. The segmentation results for road surfaces and markings can then be used for geometric parameter estimation such as road widths estimation, while the segmentation results show that the efficacy of the existing Mask R-CNN to segment needle-type objects is improved by our proposed transformations.
There are known limitations in mobile omnidirectional camera systems with an equirectangular projection in the wild, such as momentum-caused object distortion within images, partial occlusion and the effects of environmental settings. The localization, instance segmentation and classification of traffic signs from image data is of significant importance to applications such as Traffic Sign Detection and Recognition (TSDR) and Advanced Driver Assistance Systems (ADAS). Works show the efficacy of using state-of-the-art deep pixel-wise methods for this task yet rely on the input of classical landscape image data, automatic camera focus and collection in ideal weather settings, which does not accurately represent the application of technologies in the wild. We present a new processing pipeline for extracting objects within omnidirectional images in the wild, with included demonstration in a Traffic Sign Detection and Recognition (TDSR) system. We compare Mask RCNN, Cascade RCNN, and Hybrid Task Cascade (HTC) methods, while testing RsNeXt 101, Swin-S and HRNetV2p backbones, with transfer learning for localization and instance segmentation. The results from our multinomial classification experiment show that using our proposed pipeline, given that a traffic sign is detected, there is above a 95% chance that it is classified correctly between 12 classes despite the limitations mentioned. Our results on the projected images should provide a path to use omnidirectional images with image processing to enable the full surrounding awareness from one image source.
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