CP-loss: Connectivity-preserving Loss for Road Curb Detection in Autonomous Driving with Aerial Images

07/26/2021
by   Zhenhua Xu, et al.
0

Road curb detection is important for autonomous driving. It can be used to determine road boundaries to constrain vehicles on roads, so that potential accidents could be avoided. Most of the current methods detect road curbs online using vehicle-mounted sensors, such as cameras or 3-D Lidars. However, these methods usually suffer from severe occlusion issues. Especially in highly-dynamic traffic environments, most of the field of view is occupied by dynamic objects. To alleviate this issue, we detect road curbs offline using high-resolution aerial images in this paper. Moreover, the detected road curbs can be used to create high-definition (HD) maps for autonomous vehicles. Specifically, we first predict the pixel-wise segmentation map of road curbs, and then conduct a series of post-processing steps to extract the graph structure of road curbs. To tackle the disconnectivity issue in the segmentation maps, we propose an innovative connectivity-preserving loss (CP-loss) to improve the segmentation performance. The experimental results on a public dataset demonstrate the effectiveness of our proposed loss function. This paper is accompanied with a demonstration video and a supplementary document, which are available at .

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 1

page 3

page 4

page 6

03/31/2021

iCurb: Imitation Learning-based Detection of Road Curbs using Aerial Images for Autonomous Driving

Detection of road curbs is an essential capability for autonomous drivin...
09/15/2020

Promoting Connectivity of Network-Like Structures by Enforcing Region Separation

We propose a novel, connectivity-oriented loss function for training dee...
11/11/2021

csBoundary: City-scale Road-boundary Detection in Aerial Images for High-definition Maps

High-Definition (HD) maps can provide precise geometric and semantic inf...
03/31/2021

Hierarchical Road Topology Learning for Urban Map-less Driving

The majority of current approaches in autonomous driving rely on High-De...
02/11/2018

Unthule: An Incremental Graph Construction Process for Robust Road Map Extraction from Aerial Images

The availability of highly accurate maps has become crucial due to the i...
03/31/2021

Topo-boundary: A Benchmark Dataset on Topological Road-boundary Detection Using Aerial Images for Autonomous Driving

Road-boundary detection is important for autonomous driving. For example...
07/11/2019

Online Inference and Detection of Curbs in Partially Occluded Scenes with Sparse LIDAR

Road boundaries, or curbs, provide autonomous vehicles with essential in...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.