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

11/11/2021
by   Zhenhua Xu, et al.
0

High-Definition (HD) maps can provide precise geometric and semantic information of static traffic environments for autonomous driving. Road-boundary is one of the most important information contained in HD maps since it distinguishes between road areas and off-road areas, which can guide vehicles to drive within road areas. But it is labor-intensive to annotate road boundaries for HD maps at the city scale. To enable automatic HD map annotation, current work uses semantic segmentation or iterative graph growing for road-boundary detection. However, the former could not ensure topological correctness since it works at the pixel level, while the latter suffers from inefficiency and drifting issues. To provide a solution to the aforementioned problems, in this letter, we propose a novel system termed csBoundary to automatically detect road boundaries at the city scale for HD map annotation. Our network takes as input an aerial image patch, and directly infers the continuous road-boundary graph (i.e., vertices and edges) from this image. To generate the city-scale road-boundary graph, we stitch the obtained graphs from all the image patches. Our csBoundary is evaluated and compared on a public benchmark dataset. The results demonstrate our superiority. The accompanied demonstration video is available at our project page <https://sites.google.com/view/csboundary/>.

READ FULL TEXT

Authors

page 1

page 3

page 4

page 7

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...
07/26/2021

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

Road curb detection is important for autonomous driving. It can be used ...
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...
02/16/2022

RNGDet: Road Network Graph Detection by Transformer in Aerial Images

Road network graphs provide critical information for autonomous vehicle ...
12/04/2018

PolyMapper: Extracting City Maps using Polygons

We propose a method to leapfrog pixel-wise, semantic segmentation of (ae...
08/21/2021

BoundaryNet: An Attentive Deep Network with Fast Marching Distance Maps for Semi-automatic Layout Annotation

Precise boundary annotations of image regions can be crucial for downstr...
11/26/2018

City-Scale Road Audit System using Deep Learning

Road networks in cities are massive and is a critical component of mobil...
This week in AI

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