arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 1809.08993cs.CV
收藏

基于多模态传感器融合的语义体素改进

Improved Semantic Stixels via Multimodal Sensor Fusion

Daimler AG(戴姆勒股份公司);Karlsruhe Institute of Technology (KIT)(卡尔斯鲁厄理工学院);Forschungszentrum Informatik (FZI)(卡尔斯鲁厄信息学研究中心)

Florian Piewak, Peter Pinggera, Markus Enzweiler, David Pfeiffer, Marius Zöllner

摘要:

本文提出了一种紧凑和准确的表示三维场景观察到的激光雷达传感器和单目相机。所提出的方法是基于完善的Stixel模型最初开发的立体视觉应用。我们扩展这个Stixel概念,将数据从多个传感器模态。由此产生的中级融合方案充分利用了LiDAR测量的几何精度以及RGB图像的高分辨率和语义细节。所获得的环境模型以显著减少的数据量提供3D场景的几何和语义一致的表示,同时最小化信息损失。由于不同的传感器模态被认为是一个联合优化问题的输入,得到的解决方案,只有很小的计算开销。我们证明了所提出的多模态Stixel算法在手动注释的地面实况数据集上的有效性。我们的研究结果表明,所提出的LiDAR和相机数据的中级融合显着提高了Stixel模型的几何和语义准确性,同时减少了计算开销以及生成的数据量,与单独使用单一模态相比。

英文摘要:

This paper presents a compact and accurate representation of 3D scenes that are observed by a LiDAR sensor and a monocular camera. The proposed method is based on the well-established Stixel model originally developed for stereo vision applications. We extend this Stixel concept to incorporate data from multiple sensor modalities. The resulting mid-level fusion scheme takes full advantage of the geometric accuracy of LiDAR measurements as well as the high resolution and semantic detail of RGB images. The obtained environment model provides a geometrically and semantically consistent representation of the 3D scene at a significantly reduced amount of data while minimizing information loss at the same time. Since the different sensor modalities are considered as input to a joint optimization problem, the solution is obtained with only minor computational overhead. We demonstrate the effectiveness of the proposed multimodal Stixel algorithm on a manually annotated ground truth dataset. Our results indicate that the proposed mid-level fusion of LiDAR and camera data improves both the geometric and semantic accuracy of the Stixel model significantly while reducing the computational overhead as well as the amount of generated data in comparison to using a single modality on its own.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

↑