Paper Info
Title
Comprehensive performance analysis of road detection algorithms using the common urban Kitti-road benchmark
Abstract
The navigation of an autonomous vehicle is a highly complex task and the dynamic environment is used as a source for reasoning. Road detection is a major issue in autonomous systems and advanced driving assistance systems applied for inner-city. Uncertainty may arise in environments with unmarked or weakly marked roads or poor lightning conditions. Moreover, when a common benchmark is not used, it is hard to decide which approach performs better on the road detection problem. This paper introduces a comprehensive performance analysis of two road recognition approaches using the urban Kitti-road benchmark. The first approach makes the extraction of a feature set based on statistical measures of 2D and 3D information from each superpixel. An Artificial Neural Network is used to detect the road pattern. The second approach extracts the feature set based on a multi-normalized histogram of Textons and Disptons for each superpixel. This feature set is used as a source for a Joint Boosting algorithm to model the road pattern. The proposed work presents a detailed evaluation highliting the pros and cons of each approach.
Year
DOI
Venue
2014
10.1109/IVS.2014.6856616
Intelligent Vehicles Symposium
Keywords
Field
DocType
driver information systems,feature extraction,navigation,neural nets,object detection,roads,statistical analysis,2D information,3D information,Disptons,Textons,advanced driving assistance systems,artificial neural network,autonomous systems,autonomous vehicle,dynamic environment,feature set extraction,joint boosting algorithm,multinormalized histogram,navigation,road detection algorithms,road detection problem,road pattern detection,road recognition,statistical measures,urban Kitti-road benchmark,Artificial Neural Network,Computer Vision,Dispton Map,Joint Boosting,Road Recognition,Texton Map,Watershed Transform
Histogram,Feature set,Artificial intelligence,Boosting (machine learning),Autonomous system (Internet),Engineering,Artificial neural network,Machine learning
Conference
ISSN
Citations 
PageRank 
1931-0587
5
0.46
References 
Authors
11
3
Name
Order
Citations
PageRank
Vitor, G.B.160.81
Alessandro Corrêa Victorino2254.58
Janito V. Ferreira3222.57