The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Semantic Segmentation of Urban Scenes Using Location Prior Information

사전위치정보를 이용한 도심 영상의 의미론적 분할

  • Received : 2017.04.13
  • Accepted : 2017.08.15
  • Published : 2017.08.31
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Abstract

This paper proposes a method to segment urban scenes semantically based on location prior information. Since major scene elements in urban environments such as roads, buildings, and vehicles are often located at specific locations, using the location prior information of these elements can improve the segmentation performance. The location priors are defined in special 2D coordinates, referred to as road-normal coordinates, which are perpendicular to the orientation of the road. With the help of depth information to each element, all the possible pixels in the image are projected into these coordinates and the learned prior information is applied to those pixels. The proposed location prior can be modeled by defining a unary potential of a conditional random field (CRF) as a sum of two sub-potentials: an appearance feature-based potential and a location potential. The proposed method was validated using publicly available KITTI dataset, which has urban images and corresponding 3D depth measurements.

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References

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