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Despite the recent success of deep-learning based semantic segmentation, deploying a pre-trained road scene segmenter to a city whose images are not presented in the training set would not achieve satisfactory performance due to dataset biases. Instead of collecting a large number of annotated images of each city of interest to train or refine the segmenter, we propose an unsupervised learning approach...
The frequent occurrence of road congestion and traffic accidents has affected people's travel efficiency and travel safety. Traffic sign recognition has become one of the key research objects in intelligent transportation system. This paper studies the identification of road traffic signs based on video images. First of all, collected image will be image preprocessing with image reduction, brightness...
Autonomous cars establish driving strategies using the positions of ego lanes. The previous methods detect lane points and select ego lanes with heuristic and complex postprocessing with strong geometric assumptions. We propose a sequential end-to-end transfer learning method to estimate left and right ego lanes directly and separately without any postprocessing. We redefined a point-detection problem...
Road detection from the perspective of moving vehicles is a challenging issue in autonomous driving. Recently, many deep learning methods spring up for this task because they can extract high-level local features to find road regions from raw RGB data, such as Convolutional Neural Networks (CNN) and Fully Convolutional Networks (FCN). However, how to detect the boundary of road accurately is still...
Accurate road segmentation is a prerequisite for autonomous driving. Current state-of-the-art methods are mostly based on convolutional neural networks (CNNs). Nevertheless, their good performance is at expense of abundant annotated data and high computational cost. In this work, we address these two issues by a self-paced cross-modality transfer learning framework with efficient projection CNN. To...
Extracting road information from remote sensing images plays an import role for many practical areas. In this paper, an approach for road extraction is proposed, in order to obtain standard road region with high accuracy. By utilizing the road design and construction specifications made by the transportation industry, the road objects are assigned into different classes. Then the corresponding task...
This paper addresses the problem of road scene segmentation in conventional RGB images by exploiting recent advances in semantic segmentation via convolutional neural networks (CNNs). Segmentation networks are very large and do not currently run at interactive frame rates. To make this technique applicable to robotics we propose several architecture refinements that provide the best trade-off between...
One of the most important issues after so many disasters, besides communication determine the damage caused by the disaster areas to reach a moment ago. The emergency rescue teams established for this purpose by making plans to take action on realistic maps are required. Not just as an ambulance during rescue, vehicles in a variety of business machines correct route to take on the road safely. In...
Automatic traffic sign detection and recognition is a field of computer vision which is very important aspect for advanced driver support system. This paper proposes a framework that will detect and classify different types of traffic signs from images. The technique consists of two main modules: road sign detection, and classification and recognition. In the first step, colour space conversion, colour...
In this paper, we propose the dense disparity map-based pedestrian detection method for intelligent vehicle. The dense disparity map is utilized to improve the pedestrian detection performance. Our method consists of several steps namely, obstacle area detection using road feature information and column detection, pedestrian area detection using dense disparity map-based segmentation, and pedestrian...
Available big geoscientific data and modern powerful computation hardware have laid a solid foundation for the prevailing deep learning models in the field of image classification, detection and segmentation. In these models, fully convolutional networks achieve unprecedented success in image segmentation tasks [6]. In this paper, we apply the contemporary image segmentation models in the context...
Computer vision based road detection is an indispensable and challenging task in many real-world applications such as obstacle detection in autonomous driving. Low-level image features (e.g., color and texture) and pre-trained models are commonly used for this task. In this paper, we propose a simple yet effective approach to detect roads from a single image, which avoids the supervised model training...
In this paper, we present a novel learning framework for traversable region detection. Firstly, we construct features from the super-pixel level which can reduce the computational cost compared to pixel level. Multi-scale super-pixels are extracted to give consideration to both outline and detail information. Then we classify the multiple-scale super-pixels and merge the labels in pixel level. Meanwhile,...
Automatic detection and recognition of road signs is an important component of automated driver assistance systems contributing to the safety of the drivers, pedestrians and vehicles. Despite significant research, the problem of detecting and recognizing road signs still remains challenging due to varying lighting conditions, complex backgrounds and different viewing angles. We present an effective...
Path estimation is a big challenge for autonomous vehicle navigation, especially in unknown, dynamic environments, when road characteristics change often. 3D terrain information (e.g. stereo cameras) can provide useful hints about the traversability cost of certain regions. However, when the terrain tends to be flat and uniform, it is difficult to identify a better path using 3D map solely. In this...
In this paper, a novel system for automatic detection and classification of animal is presented. System called ASFAR (Automatic System For Animal Recognition) is based on distributed so-called ‘watching device’ in designated area and main computing unit (MCU) acting as server and system manager. Watching devices are situated in wild nature and their task is to detect animal and then send data to MCU...
Road surface inspection in cities is for the most part, a task performed manually. Being a subjective and labor intensive process, it is an ideal candidate for automation. We propose a solution based on computer vision and data-driven methods to detect distress on the road surface. Our method works on images collected from a camera mounted on the windshield of a vehicle. We use an automatic procedure...
In this paper, we tackle the problem of road detection from RGB images. In particular, we follow a data-driven approach to segmenting the road pixels in an image. To this end, we introduce two road detection methods: A top-down approach that builds an image-level road prior based on the traffic pattern observed in an input image, and a bottom-up technique that estimates the probability that an image...
This paper presents a new approach of combining clustering and neural network classifier for the classification of road images into road and sky segments. The proposed approach first creates clusters for each available class and then uses these clusters to form subclasses for each extracted road image segment. The integration of clusters in the classification process is designed to increase the learning...
In this paper we present a novel and robust algorithm for automatic recognition of road signs by using histogram of oriented gradient (HOG) as the main feature and minimum distance classifier (MDC) to classify numbers written on speed limit road signs. It also describes how other geometrical properties can be added to feature vector in order to increase the robustness of proposed algorithm.
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