Abstract:Abstract-Detecting the road area and ego-lane ahead of a vehicle is central to modern driver assistance systems. While lane-detection on well-marked roads is already available in modern vehicles, finding the boundaries of unmarked or weakly marked roads and lanes as they appear in inner-city and rural environments remains an unsolved problem due to the high variability in scene layout and illumination conditions, amongst others. While recent years have witnessed great interest in this subject, to date no commo… Show more
“…For the KITTI Vision road detection benchmark, performance is measured in the birds-eye view, while data is presented in ego view. The authors of (Fritsch et al, 2013) claim that the vehicle control usually happens in 2D space and therefore road detection should also be done in this space. A wrong classified pixel near the horizon in ego view represents a whole bunch of pixels in the birds-eye view.…”
Section: Benefit Of Dropout and Relu For Smaller Networkmentioning
Abstract:Classifying single image patches is important in many different applications, such as road detection or scene understanding. In this paper, we present convolutional patch networks, which are convolutional networks learned to distinguish different image patches and which can be used for pixel-wise labeling. We also show how to incorporate spatial information of the patch as an input to the network, which allows for learning spatial priors for certain categories jointly with an appearance model. In particular, we focus on road detection and urban scene understanding, two application areas where we are able to achieve state-of-the-art results on the KITTI as well as on the LabelMeFacade dataset. Furthermore, our paper offers a guideline for people working in the area and desperately wandering through all the painstaking details that render training CNs on image patches extremely difficult.
“…For the KITTI Vision road detection benchmark, performance is measured in the birds-eye view, while data is presented in ego view. The authors of (Fritsch et al, 2013) claim that the vehicle control usually happens in 2D space and therefore road detection should also be done in this space. A wrong classified pixel near the horizon in ego view represents a whole bunch of pixels in the birds-eye view.…”
Section: Benefit Of Dropout and Relu For Smaller Networkmentioning
Abstract:Classifying single image patches is important in many different applications, such as road detection or scene understanding. In this paper, we present convolutional patch networks, which are convolutional networks learned to distinguish different image patches and which can be used for pixel-wise labeling. We also show how to incorporate spatial information of the patch as an input to the network, which allows for learning spatial priors for certain categories jointly with an appearance model. In particular, we focus on road detection and urban scene understanding, two application areas where we are able to achieve state-of-the-art results on the KITTI as well as on the LabelMeFacade dataset. Furthermore, our paper offers a guideline for people working in the area and desperately wandering through all the painstaking details that render training CNs on image patches extremely difficult.
“…The most common metrics used for evaluating performance of lane detection algorithms are Precision, Recall, F-score, Accuracy [34], Receiver Operating Characteristic (ROC) curves and Dice Similarity Coefficient (DSC) [33]. Precision is the fraction of detected lanes markers that are actual lane markers.…”
Section: Performance Metrics Used For Lane Detection and Trackingmentioning
“…The implementation of the perception system has been done based on the perception sensors available in the KITTI dataset [19][20][21], which includes a Velodyne sensor and two pairs of stereo vision cameras. The federated perception architecture suggested to fuse sensor data from the KITTI dataset is shown in Figure 3 …”
Abstract.In recent years testing autonomous vehicles on public roads has become a reality. However, before having autonomous vehicles completely accepted on the roads, they have to demonstrate safe operation and reliable interaction with other traffic participants. Furthermore, in real situations and long term operation, there is always the possibility that diverse components may fail. This paper deals with possible sensor faults by defining a federated sensor data fusion architecture. The proposed architecture is designed to detect obstacles in an autonomous vehicle's environment while detecting a faulty sensor using SVM models for fault detection and diagnosis. Experimental results using sensor information from the KITTI dataset confirm the feasibility of the proposed architecture to detect soft and hard faults from a particular sensor.
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