2021/10/08 by Dongfeng Bai, Tongtong Cao, Bai, Dongfeng +7
Computer Science · Engineering · Environmental Science · #68T45 #Advanced Neural Network Applications #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Infrastructure Maintenance and Monitoring #Remote Sensing and LiDAR Applications #cs.CV #msc:68T45
paper · pdf · doi:10.48550/arxiv.2110.03968
7 pages with 10 figures, submitted to 2022 IEEE International Conference on Robotics and Automation (ICRA)
arxiv created 2021/10/08 · openalex publication_date 2021/10/08 · arxiv updated 2021/10/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/04
Curbs are one of the essential elements of urban and highway traffic environments. Robust curb detection provides road structure information for motion planning in an autonomous driving system. Commonly, video cameras and 3D LiDARs are mounted on autonomous vehicles for curb detection. However, camera-based methods suffer from challenging illumination conditions. During the long period of time before wide application of Deep Neural Network (DNN) with point clouds, LiDAR-based curb detection methods are based on hand-crafted features, which suffer from poor detection in some complex scenes. Recently, DNN-based dynamic object detection using LiDAR data has become prevalent, while few works pay attention to curb detection with a DNN approach due to lack of labeled data. A dataset with curb annotations or an efficient curb labeling approach, hence, is of high demand...