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

by   Zhenhua Xu, et al.

Detection of road curbs is an essential capability for autonomous driving. It can be used for autonomous vehicles to determine drivable areas on roads. Usually, road curbs are detected on-line using vehicle-mounted sensors, such as video cameras and 3-D Lidars. However, on-line detection using video cameras may suffer from challenging illumination conditions, and Lidar-based approaches may be difficult to detect far-away road curbs due to the sparsity issue of point clouds. In recent years, aerial images are becoming more and more worldwide available. We find that the visual appearances between road areas and off-road areas are usually different in aerial images, so we propose a novel solution to detect road curbs off-line using aerial images. The input to our method is an aerial image, and the output is directly a graph (i.e., vertices and edges) representing road curbs. To this end, we formulate the problem as an imitation learning problem, and design a novel network and an innovative training strategy to train an agent to iteratively find the road-curb graph. The experimental results on a public dataset confirm the effectiveness and superiority of our method. This work is accompanied with a demonstration video and a supplementary document at



page 1

page 3

page 4

page 6

page 8


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...

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 ...

RNGDet: Road Network Graph Detection by Transformer in Aerial Images

Road network graphs provide critical information for autonomous vehicle ...

Model Guided Road Intersection Classification

Understanding complex scenarios from in-vehicle cameras is essential for...

Real-Time Violence Detection Using CNN-LSTM

Violence rates however have been brought down about 57 the past 4 decade...

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

High-Definition (HD) maps can provide precise geometric and semantic inf...

Road Curb Detection Using A Novel Tensor Voting Algorithm

Road curb detection is very important and necessary for autonomous drivi...
This week in AI

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