Method

Real-Time Road Segmentation Using LiDAR Data Processing on an FPGA [la] [LiDAR-SPHnet]


Submitted on 7 Nov. 2017 23:02 by
Lin Bai (Worcester Polytechnic Institute)

Running time:0.14 s
Environment:GPU @ 1.5 Ghz (Matlab)

Method Description:
Real-Time Road Segmentation Using LiDAR Data
Processing on an FPGA [la] [ms]
Parameters:
Adam: 1e-5
Latex Bibtex:

Evaluation in Bird's Eye View


Benchmark MaxF AP PRE REC FPR FNR
UM_ROAD 91.50 % 81.98 % 87.05 % 96.42 % 6.53 % 3.58 %
UMM_ROAD 93.54 % 89.86 % 93.45 % 93.63 % 7.22 % 6.37 %
UU_ROAD 88.98 % 80.48 % 86.07 % 92.09 % 4.86 % 7.91 %
URBAN_ROAD 91.79 % 84.76 % 89.68 % 94.00 % 5.96 % 6.00 %
This table as LaTeX

Behavior Evaluation


This table as LaTeX

Road/Lane Detection

The following plots show precision/recall curves for the bird's eye view evaluation.



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Distance-dependent Behavior Evaluation

The following plots show the F1 score/Precision/Hitrate with respect to the longitudinal distance which has been used for evaluation.


Visualization of Results

The following images illustrate the performance of the method qualitatively on a couple of test images. We first show results in the perspective image, followed by evaluation in bird's eye view. Here, red denotes false negatives, blue areas correspond to false positives and green represents true positives.



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