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Object Detection and Classification in Occupancy Grid Maps Using Deep Convolutional Networks

Wirges, Sascha; Fischer, Tom; Stiller, Christoph; Frias, Jesus Balado


A detailed environment perception is a crucial component of automated vehicles. However, to deal with the amount of perceived information, we also require segmentation strategies. Based on a grid map environment representation, well-suited for sensor fusion, free-space estimation and machine learning, we detect and classify objects using deep convolutional neural networks. As input for our networks we use a multi-layer grid map efficiently encoding 3D range sensor information. The inference output consists of a list of rotated bounding boxes with associated semantic classes. We conduct extensive ablation studies, highlight important design considerations when using grid maps and evaluate our models on the KITTI Bird's Eye View benchmark. Qualitative and quantitative benchmark results show that we achieve robust detection and state of the art accuracy solely using top-view grid maps from range sensor data.

Zugehörige Institution(en) am KIT Universität Karlsruhe (TH) – Interfakultative Einrichtungen (Interfakultative Einrichtungen)
Karlsruhe School of Optics & Photonics (KSOP)
Publikationstyp Forschungsbericht/Preprint
Publikationsmonat/-jahr 11.2018
Sprache Englisch
Identifikator KITopen-ID: 1000132457
Nachgewiesen in arXiv
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