vision-based road detection is important in different areas of computervision such as autonomous driving, car collision warning and pedestrian crossing detection. However, current vision-based road detection methods ...
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ISBN:
(纸本)9781424469840;9781424469857
vision-based road detection is important in different areas of computervision such as autonomous driving, car collision warning and pedestrian crossing detection. However, current vision-based road detection methods are usually based on low-level features and they assume structured roads, road homogeneity, and uniform lighting conditions. Therefore, in this paper, contextual 3D information is used in addition to low-level cues. Low-level photometric invariant cues are derived from the appearance of roads. Contextual cues used include horizon lines, vanishing points, 3D scene layout and 3D road stages. Moreover, temporal road cues are included. All these cues are sensitive to different imaging conditions and hence are considered as weak cues. Therefore, they are combined to improve the overall performance of the algorithm. To this end, the low-level, contextual and temporal cues are combined in a Bayesian framework to classify road sequences. Large scale experiments on road sequences show that the road detection method is robust to varying imaging conditions, road types, and scenarios (tunnels, urban and highway). Further, using the combined cues outperforms all other individual cues. Finally, the proposed method provides highest road detection accuracy when compared to state-of-the-art methods.
Road detection is a vital task for the development of autonomous vehicles. The knowledge of the free road surface ahead of the target vehicle can be used for autonomous driving, road departure warning, as well as to s...
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Road detection is a vital task for the development of autonomous vehicles. The knowledge of the free road surface ahead of the target vehicle can be used for autonomous driving, road departure warning, as well as to support advanced driver assistance systems like vehicle or pedestrian detection. Using vision to detect the road has several advantages in front of other sensors: richness of features, easy integration, low cost or low power consumption. Common vision-based road detection approaches use low-level features (such as color or texture) as visual cues to group pixels exhibiting similar properties. However, it is difficult to foresee a perfect clustering algorithm since roads are in outdoor scenarios being imaged from a mobile platform. In this paper, we propose a novel high-level approach to vision-based road detection based on geographical information. The key idea of the algorithm is exploiting geographical information to provide a rough detection of the road. Then, this segmentation is refined at low-level using color information to provide the final result. The results presented show the validity of our approach.
vision-based end-to-end driving models trained by imitation learning can lead to affordable solutions for autonomous driving. However, training these well-performing models usually requires a huge amount of data, whil...
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ISBN:
(数字)9798350348811
ISBN:
(纸本)9798350348828
vision-based end-to-end driving models trained by imitation learning can lead to affordable solutions for autonomous driving. However, training these well-performing models usually requires a huge amount of data, while still lacking explicit and intuitive activation maps to reveal the inner workings of these models while driving. In this paper, we study how to guide the attention of these models to improve their driving quality and obtain more intuitive activation maps by adding a loss term during training using salient semantic maps. In contrast to previous work, our method does not require these salient semantic maps to be available during testing time, as well as removing the need to modify the model’s architecture to which it is applied. We perform tests using perfect and noisy salient semantic maps with encouraging results in both, the latter of which is inspired by possible errors encountered with real data. Using CIL++ as a representative state-of-the-art model and the CARLA simulator with its standard benchmarks, we conduct experiments that show the effectiveness of our method in training better autonomous driving models, especially when data and computational resources are scarce.
This paper presents a new feature descriptor suitable to the task of matching features points between images with nonlinear intensity variations. This includes image pairs with significant illuminations changes, multi...
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This paper presents a new feature descriptor suitable to the task of matching features points between images with nonlinear intensity variations. This includes image pairs with significant illuminations changes, multi-modal image pairs and multi-spectral image pairs. The proposed method describes the neighbourhood of feature points combining frequency and spatial information using multi-scale and multi-oriented Log-Gabor filters. Experimental results show the validity of the proposed approach and also the improvements with respect to the state of the art.
Most publicly available brain MRI datasets are very homogeneous in terms of scanner and protocols, and it is difficult for models that learn from such data to generalize to multi-center and multi-scanner data. We prop...
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Most publicly available brain MRI datasets are very homogeneous in terms of scanner and protocols, and it is difficult for models that learn from such data to generalize to multi-center and multi-scanner data. We prop...
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Most publicly available brain MRI datasets are very homogeneous in terms of scanner and protocols, and it is difficult for models that learn from such data to generalize to multi-center and multi-scanner data. We propose a novel data augmentation approach with the aim of approximating the variability in terms of intensities and contrasts present in real world clinical data. We use a Gaussian Mixture Model based approach to change tissue intensities individually, producing new contrasts while preserving anatomical information. We train a deep learning model on a single scanner dataset and evaluate it on a multi-center and multi-scanner dataset. The proposed approach improves the generalization capability of the model to other scanners not present in the training data.
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