基于深度残差学习的自动驾驶道路场景理解.

It is making great progress in the autonomous driving field with the rapid development of road scene understanding techniques. The safety is a concerning issue with respect to the real-time and accurate performance in the related tasks which contains the road segmentation, road classification and vehicle detection. To this end, this paper proposed an approach based on deep residual learning with an encoder-decoder network structure. On the one hand, the encoder network structure used different layers of residual networks to extract the abstract features in the high dimension, which shared in the next three tasks. On the other hand, the decoder network structure adopted a mechanism of parallel computing for sub-tasks, i. e., executed the road segmentation, vehicle detection and road classification tasks simultaneously. Additionally, it used the fully convolutional networks to upsample the extracted features to specifically solve the problem of road segmentation. At last, the experimental results show that the processing rate can effectively reach more than 15 fps with the high accuracy guaranteed. [ABSTRACT FROM AUTHOR]