2024/06/24 by Yirui Chen, Pengjin Wei, Chen, Yirui +9
Computer Science · Engineering · #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Gait Recognition and Analysis #Human Pose and Action Recognition #Video Surveillance and Tracking Methods
paper · pdf · doi:10.48550/arxiv.2406.16564
openalex publication_date 2024/06/24 · openalex created_date 2024/06/26 · openalex updated_date 2026/07/28
Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature extraction module that utilizes PointNet to capture features from point clouds organized in vertical volume and a 2D encoder-decoder structure to conduct traversability classification instead of the widely used 3D convolutions. This results in less computational cost while even better performance is achieved at the same time. We then propose a new spatio-temporal attention module to fuse multi-frame information, which can properly handle the varying density problem of LIDAR point clouds, and this makes our module able to assess distant areas more accurately. Comprehensive experimental results on augmented Semantic KITTI and RELLIS-3D datasets show that our method is able to achieve superior performance over existing approaches both quantitatively and quantitatively.