A Deep Learning-Based Perception Algorithm Using 3D LiDAR for Autonomous Driving: Simultaneous Segmentation and Detection Network (SSADNet)
Source abstract
Abstract
In this paper, we propose a deep learning-based perception method in autonomous driving systems using a Light Detection and Ranging(LiDAR) point cloud data, which is called a simultaneous segmentation and detection network (SSADNet). SSADNet can be used to recognize both drivable areas and obstacles, which is necessary for autonomous driving. Unlike the previous methods, where separate networks were needed for segmentation and detection, SSADNet can perform segmentation and detection simultaneously based on a single neural network. The proposed method uses point cloud data obtained from a 3D LiDAR for network input to generate a top view image consisting of three channels of distance, height, and reflection intensity. The structure of the proposed network includes a branch for segmentation and a branch for detection as well as a bridge connecting the two parts. The KITTI dataset, which is often used for experiments on autonomous driving, was used for training. The experimental results show that segmentation and detection can be performed simultaneously for drivable areas and vehicles at a quick inference speed, which is appropriate for autonomous driving systems.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Remote Sensing and LiDAR Applications · Advanced Optical Sensing Technologies · Advanced Neural Network Applications
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Future Convergence Technology, Soonchunhyang University, Asan 31538, Korea
Department of Smart Automobile, Soonchunhyang University, Asan 31538, Korea
Funding
the National Research Foundation of Korea(NRF)
References (33)
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