CRF based road detection with multi-sensor fusion

IEEE Intelligent Vehicles Symposium, Proceedings

Volumn 2015-August, Issue , 2015, Pages 192-198

  Xiao, Liang ^a   Dai, Bin ^a   Liu, Daxue ^a   Hu, Tingbo ^a   Wu, Tao ^a  

^a NATIONAL UNIVERSITY OF DEFENSE TECHNOLOGY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

DECISION TREES; GRAPHIC METHODS; INTELLIGENT VEHICLE HIGHWAY SYSTEMS; OPTICAL RADAR; PIXELS; RANDOM PROCESSES; ROADS AND STREETS; TRANSPORTATION;

BOOSTED DECISION TREES; CONDITIONAL RANDOM FIELD; CROSS CALIBRATION; MONOCULAR IMAGE; MULTI-SENSOR FUSION; RANDOM FIELDS; ROAD DETECTION; STATE OF THE ART;

IMAGE CLASSIFICATION;

EID: 84951101227     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IVS.2015.7225685     Document Type: Conference Paper

References (36)

1. J. Fritsch, T. Kuehnl, and A. Geiger, "A new performance measure and evaluation benchmark for road detection algorithms," in International Conference on Intelligent Transportation Systems (ITSC), 2013.
2. M. A. Sotelo, F. J. Rodriguez, and L. Magdalena, "Virtuous: Visionbased road transportation for unmanned operation on urban-like scenarios," Intelligent Transportation Systems, IEEE Transactions on, vol. 5, no. 2, pp. 69-83, 2004.
3. C. Tan, T. Hong, T. Chang, and M. Shneier, "Color model-based realtime learning for road following," in Intelligent Transportation Systems Conference, 2006. ITSC '06. IEEE, Sept 2006, pp. 939-944.
4. J. Alvarez and A. M. Lopez, "Road detection based on illuminant invariance," Intelligent Transportation Systems, IEEE Transactions on, vol. 12, no. 1, pp. 184-193, 2011.
5. B. Wang, V. Fremont, and S. Rodriguez, "Color-based road detection and its evaluation on the kitti road benchmark," in Intelligent Vehicles Symposium Proceedings, 2014 IEEE, June 2014, pp. 31-36.
6. J. M. Alvarez, M. Salzmann, and N. Barnes, "Learning appearance models for road detection," in Intelligent Vehicles Symposium (IEEE IV). IEEE, 2013.
7. J. M. Alvarez, T. Gevers, Y. LeCun, and A. M. Lopez, "Road scene segmentation from a single image," in European Conference on Computer Vision, ECCV, 2012.
8. C. Rasmussen, "Grouping dominant orientations for ill-structured road following," in Computer Vision and Pattern Recognition, 2004. CVPR 2004. Proceedings of the 2004 IEEE Computer Society Conference on, vol. 1. IEEE, 2004, pp. I-470.
9. H. Kong, J.-Y. Audibert, and J. Ponce, "Vanishing point detection for road detection," in Computer Vision and Pattern Recognition, 2009. CVPR 2009. IEEE Conference on. IEEE, 2009, pp. 96-103.
10. T. Kuhnl, F. Kummert, and J. Fritsch, "Monocular road segmentation using slow feature analysis," in Intelligent Vehicles Symposium (IV), 2011 IEEE, June 2011, pp. 800-806.
11. J. Fritsch, T. Kuehnl, and F. Kummert, "Monocular road terrain detection by combining visual and spatial information," Transactions on Intelligent Transportation Systems, vol. 15, no. 4, pp. 1586-1596, 2014.
12. H. Dahlkamp, A. Kaehler, D. Stavens, S. Thrun, and G. R. Bradski, "Self-supervised monocular road detection in desert terrain," in Robot. Sci. Syst. Conf. (RSS), 2006.
13. Y. Alon, A. Ferencz, and A. Shashua, "Off-road path following using region classification and geometric projection constraints," in Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition-Volume 1, ser. CVPR '06. Washington, DC, USA: IEEE Computer Society, 2006, pp. 689-696.
14. P. Y. Shinzato, V. G. Jr, F. S. Osorio, and D. F. Wolf, "Fast visual road recognition and horizon detection using multiple artificial neural networks," in Intelligent Vehicles Symposium Proceedings, 2012 IEEE, June 2012, pp. 1090-1095.
15. J. Shotton, J. Winn, C. Rother, and A. Criminisi, "Textonboost: Joint appearance, shape and context modeling for multi-class object recognition and segmentation," in Computer Vision-ECCV 2006. Springer Berlin Heidelberg, 2006, pp. 1-15.
16. J. M. Alvarez, Y. LeCun, T. Gevers, and A. M. Lopez, "Semantic road segmentation via multi-scale ensembles of learned features," in Computer Vision-ECCV 2012. Workshops and Demonstrations. Springer Berlin Heidelberg, 2012, pp. 586-595.
17. C. Guo, S. Mita, and D. McAllester, "Robust road detection and tracking in challenging scenarios based on markov random fields with unsupervised learning," vol. 13, no. 3, pp. 1338-1354, Sep 2012.
18. Z. He, T. Wu, Z. Xiao, and H. He, "Robust road detection from a single image using road shape prior," in Image Processing (ICIP), 2013 20th IEEE International Conference on, Sept 2013, pp. 2757-2761.
19. R. Labayrade, D. Aubert, and J.-P. Tarel, "Real time obstacle detection in stereovision on non flat road geometry through "v-disparity" representation," in Intelligent Vehicle Symposium, 2002. IEEE, vol. 2, June 2002, pp. 646-651.
20. H. Badino, U. Franke, and R. Mester, "Free space computation using stochastic occupancy grids and dynamic programming," in Workshop on Dynamical Vision, ICCV, Rio de Janeiro, Brazil, vol. 20, 2007.
21. S. Thrun, M. Montemerlo, H. Dahlkamp, D. Stavens, A. Aron, J. Diebel, P. Fong, J. Gale, M. Halpenny, G. Hoffmann, et al., "Stanley: The robot that won the darpa grand challenge," in The 2005 DARPA Grand Challenge. Springer, 2007, pp. 1-43.
22. F. Moosmann, O. Pink, and C. Stiller, "Segmentation of 3d lidar data in non-flat urban environments using a local convexity criterion," in Intelligent Vehicles Symposium, 2009 IEEE. IEEE, 2009, pp. 215-220.
23. T. Chen, B. Dai, R. Wang, and D. Liu, "Gaussian-process-based realtime ground segmentation for autonomous land vehicles," Journal of Intelligent & Robotic Systems (JINT), vol. 76, pp. 563-582, Sep 2013.
24. G. B. Vitor, D. A. Lima, A. C. Victorino, and J. V. Ferreira, "A 2d/3d vision based approach applied to road detection in urban environments," in Intelligent Vehicles Symposium (IV), 2013 IEEE, 2013, pp. 952-957.
25. P. Y. Shinzato, D. F. Wolf, and C. Stiller, "Road terrain detection: Avoiding common obstacle detection assumptions using sensor fusion," in Intelligent Vehicles Symposium Proceedings, 2014 IEEE, June 2014, pp. 687-692.
26. X. Hu, S. A. R. F., and A. Gepperth, "A multi-modal system for road detection and segmentation," in Intelligent Vehicles Symposium Proceedings, 2014 IEEE, June 2014, pp. 1365-1370.
27. C. Rother, V. Kolmogorov, and A. Blake, ""GrabCut": Interactive foreground extraction using iterated graph cuts," in ACM SIGGRAPH 2004 Papers, ser. SIGGRAPH '04. New York, NY, USA: ACM, 2004, pp. 309-314.
28. A. Geiger, P. Lenz, C. Stiller, and R. Urtasun, "Vision meets robotics: The KITTI dataset," The International Journal of Robotics Research, vol. 32, pp. 1231-1237, 2013.
29. A. G. F. Moosmann, O. Car, and B. Schuster, "Automatic camera and range sensor calibration using a single shot," in IEEE International Conference on Robotics and Automation, ICRA, 2012, pp. 3936-3943.
30. Y. Guo, M. Bennamoun, F. Sohel, M. Lu, and J. Wan, "3d object recognition in cluttered scenes with local surface features: A survey," Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol. 36, no. 11, pp. 2270-2287, Nov 2014.
31. S. Gould, "DARWIN: A framework for machine learning and computer vision research and development," Journal of Machine Learning Research (JMLR), vol. 13, pp. 3533-3537, Dec 2012.
32. T. Kuehnl, F. Kummert, and J. Fritsch, "Spatial ray features for realtime ego-lane extraction," in Proc. IEEE Intelligent Transportation Systems, 2012.
33. G. B. Vitor, A. C. Victorino, and J. V. Ferreira, "A probabilistic distribution approach for the classification of urban roads in complex environments," in Workshop on Modelling, Estimation, Perception and Control of All Terrain Mobile Robots on IEEE International Conference on Robotics and Automation (ICRA) 2014, May 2014.
34. G. Vitor, A. Victorino, and J. Ferreira, "Comprehensive performance analysis of road detection algorithms using the common urban kittiroad benchmark," in Workshop on Benchmarking Road Terrain and Lane Detection Algorithms for In-Vehicle Application on IEEE Intelligent Vehicles Symposium (IV), June 2014, pp. 19-24.
35. M. Passani, J. J. Yebes, and L. M. Bergasa, "CRF-based semantic labeling in miniaturized road scenes," in Intelligent Transportation Systems (ITSC), 2014 IEEE 17th International Conference on, Oct 2014, pp. 1902-1903.
36. N. Einecke and J. Eggert, "Block-matching stereo with relaxed frontoparallel assumption," in Intelligent Vehicles Symposium Proceedings, 2014 IEEE, June 2014, pp. 700-705.