Proceedings ArticleDOI
AdapNet: Adaptive semantic segmentation in adverse environmental conditions
Abhinav Valada,Johan Vertens,Ankit Dhall,Wolfram Burgard +3 more
- pp 4644-4651
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TLDR
This paper proposes a novel semantic segmentation architecture and the convoluted mixture of deep experts (CMoDE) fusion technique that enables a multi-stream deep neural network to learn features from complementary modalities and spectra, each of which are specialized in a subset of the input space.Abstract:
Robust scene understanding of outdoor environments using passive optical sensors is a onerous and essential task for autonomous navigation. The problem is heavily characterized by changing environmental conditions throughout the day and across seasons. Robots should be equipped with models that are impervious to these factors in order to be operable and more importantly to ensure safety in the real-world. In this paper, we propose a novel semantic segmentation architecture and the convoluted mixture of deep experts (CMoDE) fusion technique that enables a multi-stream deep neural network to learn features from complementary modalities and spectra, each of which are specialized in a subset of the input space. Our model adaptively weighs class-specific features of expert networks based on the scene condition and further learns fused representations to yield robust segmentation. We present results from experimentation on three publicly available datasets that contain diverse conditions including rain, summer, winter, dusk, fall, night and sunset, and show that our approach exceeds the state-of-the-art. In addition, we evaluate the performance of autonomously traversing several kilometres of a forested environment using only the segmentation for perception.read more
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Journal ArticleDOI
Deep Multi-Modal Object Detection and Semantic Segmentation for Autonomous Driving: Datasets, Methods, and Challenges
Di Feng,Christian Haase-Schutz,Lars Rosenbaum,Heinz Hertlein,Claudius Gläser,Fabian Timm,Werner Wiesbeck,Klaus Dietmayer +7 more
TL;DR: In this article, the authors systematically summarize methodologies and discuss challenges for deep multi-modal object detection and semantic segmentation in autonomous driving and provide an overview of on-board sensors on test vehicles, open datasets, and background information for object detection.
Journal ArticleDOI
A survey of deep learning techniques for autonomous driving
TL;DR: In this article, the authors survey the current state-of-the-art on deep learning technologies used in autonomous driving, including convolutional and recurrent neural networks, as well as the deep reinforcement learning paradigm.
Journal ArticleDOI
A Survey of Deep Learning Techniques for Autonomous Driving
TL;DR: The objective of this paper is to survey the current state‐of‐the‐art on deep learning technologies used in autonomous driving, by presenting AI‐based self‐driving architectures, convolutional and recurrent neural networks, as well as the deep reinforcement learning paradigm.
Journal ArticleDOI
Survey on semantic segmentation using deep learning techniques
Fahad Lateef,Yassine Ruichek +1 more
TL;DR: A survey of semantic segmentation methods by categorizing them into ten different classes according to the common concepts underlying their architectures, and providing an overview of the publicly available datasets on which they have been assessed.
Proceedings ArticleDOI
Sparse and Dense Data with CNNs: Depth Completion and Semantic Segmentation
TL;DR: This proposal efficiently learns sparse features without the need of an additional validity mask, and works with densities as low as 0.8% (8 layer lidar).
References
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Proceedings Article
Very Deep Convolutional Networks for Large-Scale Image Recognition
Karen Simonyan,Andrew Zisserman +1 more
TL;DR: In this paper, the authors investigated the effect of the convolutional network depth on its accuracy in the large-scale image recognition setting and showed that a significant improvement on the prior-art configurations can be achieved by pushing the depth to 16-19 layers.
Book ChapterDOI
U-Net: Convolutional Networks for Biomedical Image Segmentation
TL;DR: Neber et al. as discussed by the authors proposed a network and training strategy that relies on the strong use of data augmentation to use the available annotated samples more efficiently, which can be trained end-to-end from very few images and outperforms the prior best method (a sliding-window convolutional network) on the ISBI challenge for segmentation of neuronal structures in electron microscopic stacks.
Journal ArticleDOI
ImageNet Large Scale Visual Recognition Challenge
Olga Russakovsky,Jia Deng,Hao Su,Jonathan Krause,Sanjeev Satheesh,Sean Ma,Zhiheng Huang,Andrej Karpathy,Aditya Khosla,Michael S. Bernstein,Alexander C. Berg,Li Fei-Fei +11 more
TL;DR: The ImageNet Large Scale Visual Recognition Challenge (ILSVRC) as mentioned in this paper is a benchmark in object category classification and detection on hundreds of object categories and millions of images, which has been run annually from 2010 to present, attracting participation from more than fifty institutions.