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HD Maps: Fine-grained Road Segmentation by Parsing Ground and Aerial Images

Mattyus, Gellert and Wang, Shenlong and Fidler, Sanja and Urtasun, Raquel (2016) HD Maps: Fine-grained Road Segmentation by Parsing Ground and Aerial Images. In: Proceedings of Computer Vision and Pattern Recognition 2016, pp. 1-9. IEEE Xplore. Conference on Computer Vision and Pattern Recognition, 27-30 June 2016, Las Vegas, USA.

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In this paper we present an approach to enhance existing maps with fine grained segmentation categories such as parking spots and sidewalk, as well as the number and location of road lanes. Towards this goal, we propose an efficient approach that is able to estimate these fine grained categories by doing joint inference over both, monocular aerial imagery, as well as ground images taken from a stereo camera pair mounted on top of a car. Important to this is reasoning about the alignment between the two types of imagery, as even when the measurements are taken with sophisticated GPS+IMU systems, this alignment is not sufficiently accurate. We demonstrate the effectiveness of our approach on a new dataset which enhances KITTI with aerial images taken with a camera mounted on an airplane and flying around the city of Karlsruhe, Germany.

Item URL in elib:https://elib.dlr.de/104583/
Document Type:Conference or Workshop Item (Poster)
Title:HD Maps: Fine-grained Road Segmentation by Parsing Ground and Aerial Images
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Mattyus, Gellertgellert.mattyus (at) dlr.deUNSPECIFIED
Wang, Shenlongslwang (at) cs.toronto.eduUNSPECIFIED
Fidler, Sanjafidler (at) cs.toronto.eduUNSPECIFIED
Urtasun, Raquelurtasun (at) cs.toronto.eduUNSPECIFIED
Journal or Publication Title:Proceedings of Computer Vision and Pattern Recognition 2016
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 1-9
Publisher:IEEE Xplore
Keywords:computer vision, remote sensing, aerial image, maps, autonomous driving
Event Title:Conference on Computer Vision and Pattern Recognition
Event Location:Las Vegas, USA
Event Type:international Conference
Event Dates:27-30 June 2016
Organizer:IEEE Computer Society and the Computer Vision Foundation (CVF)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Vabene++ (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Remote Sensing Technology Institute > Photogrammetry and Image Analysis
Deposited By: Mattyus, Gellert Sandor
Deposited On:21 Jun 2016 14:40
Last Modified:31 Jul 2019 20:01

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