Pixel-Based Range Processing for Autonomous Driving
نویسنده
چکیده
We describe a pixel-based approach to range processing for obstacle detection and autonomous driving as an alternative to the traditional imageor map-based appmches. The pixel-based approach eliminates the delays due to image acquisition and map building and permits the integration of traversabiliv evaluation and path generation into a single module without rhe latency involved in distributed systems. We describe the algorithm used for updating a local map using individual range pirels, for detecting obstacles on the fly, and for generating steering commands. We illustrate the performance of the algorithm using an implementation of a cross-count‘ driving system using a scanning laser range finder:
منابع مشابه
Driving Scene Perception Network: Real-time Joint Detection, Depth Estimation and Semantic Segmentation
As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for simultaneous object detection, depth estimation and pixel-level semantic segmentation using a shared convolutional architecture. The proposed network model, which we ...
متن کاملSuperpixel clustering with deep features for unsupervised road segmentation
Vision-based autonomous driving requires classifying each pixel as corresponding to road or not, which can be addressed using semantic segmentation. Semantic segmentation works well when used with a fully supervised model, but in practice, the required work of creating pixel-wise annotations is very expensive. Although weakly supervised segmentation addresses this issue, most methods are not de...
متن کاملThe ApolloScape Dataset for Autonomous Driving
Scene parsing aims to assign a class (semantic) label for each pixel in an image. It is a comprehensive analysis of an image. Given the rise of autonomous driving, pixel-accurate environmental perception is expected to be a key enabling technical piece. However, providing a large scale dataset for the design and evaluation of scene parsing algorithms, in particular for outdoor scenes, has been ...
متن کاملDevelopment of Autonomous Traveling for Agricultural Robot Drive Platform by Using a Single Camera
In this paper we have presented a study on vision based autonomous driving of a four-wheel-drive platform for agricultural applications. The developed driving platform can be autonomously driven on any path pattern. The key contributions to this paper are development of unique navigation pattern to train the mobile robot to follow any kind of path pattern. We have demonstrated how speed, camera...
متن کاملAn Obstacle Representation for O -road Autonomous Driving
The eld of autonomous vehicles has seen considerable success in the domain of freeway driving. Here the constraints of freeway construction, rules of the road, and encoded maps are used to successfully drive a vehicle with a minimum of human intervention. Autonomous navigation in a more general environment has seen less progress however. The oo-road autonomous system must be able to identify bo...
متن کامل