Only a few existing works exploit multiple modalities of data for road detection task in the context of autonomous driving. In this work, a deep learning based approach is developed to fuse LIDAR point cloud and camera image features over a bird's eye view representation. A two-stream fully-convolutional network is designed as encoder to extract general features of two types of data. Instead of limiting the fusion processing at a single stage or to a predefined extent, we propose a multi-stage residual fusion strategy to merge the feature maps in a residual learning fashion, and integrate the information at different network depth. Experiments conduct on KITTI road benchmark show that our proposed method has a significant improvement over single modality methods and other fusion approaches. And it is also among the top-performing algorithms.
Multi-Stage Residual Fusion Network for LIDAR-Camera Road Detection
2019 IEEE Intelligent Vehicles Symposium (IV) ; 2323-2328
01.06.2019
577537 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
MULTI-STAGE RESIDUAL FUSION NETWORK FOR LIDAR-CAMERA ROAD DETECTION
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