TY - GEN
T1 - SEG-VoxelNet for 3D vehicle detection from RGB and LiDAR data
AU - Dou, Jian
AU - Xue, Jianru
AU - Fang, Jianwu
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - This paper proposes a SEG-VoxelNet that takes RGB images and LiDAR point clouds as inputs for accurately detecting 3D vehicles in autonomous driving scenarios, which for the first time introduces semantic segmentation technique to assist the 3D LiDAR point cloud based detection. Specifically, SEG-VoxelNet is composed of two sub-networks: an image semantic segmentation network (SEG-Net) and an improved-VoxelNet. The SEG-Net generates the semantic segmentation map which represents the probability of the category for each pixel. The improved-VoxelNet is capable of effectively fusing point cloud data with image semantic feature and generating accurate 3D bounding boxes of vehicles. Experiments on the KITTI 3D vehicle detection benchmark show that our approach outperforms the methods of state-of-the-art.
AB - This paper proposes a SEG-VoxelNet that takes RGB images and LiDAR point clouds as inputs for accurately detecting 3D vehicles in autonomous driving scenarios, which for the first time introduces semantic segmentation technique to assist the 3D LiDAR point cloud based detection. Specifically, SEG-VoxelNet is composed of two sub-networks: an image semantic segmentation network (SEG-Net) and an improved-VoxelNet. The SEG-Net generates the semantic segmentation map which represents the probability of the category for each pixel. The improved-VoxelNet is capable of effectively fusing point cloud data with image semantic feature and generating accurate 3D bounding boxes of vehicles. Experiments on the KITTI 3D vehicle detection benchmark show that our approach outperforms the methods of state-of-the-art.
UR - https://www.scopus.com/pages/publications/85071468386
U2 - 10.1109/ICRA.2019.8793492
DO - 10.1109/ICRA.2019.8793492
M3 - 会议稿件
AN - SCOPUS:85071468386
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4362
EP - 4368
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -