로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제19권1호
  • /
  • Pages.130-138
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  • 2024
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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Moving Object Segmentation을 활용한 자동차 이동 방향 추정 성능 개선

Moving Object Segmentation-based Approach for Improving Car Heading Angle Estimation

  • Chiyun Noh (Mechanical Engineering, Seoul National University) ;
  • Sangwoo Jung (Mechanical Engineering, Seoul National University) ;
  • Yujin Kim (Mechanical Engineering, Seoul National University) ;
  • Kyongsu Yi (Mechanical Engineering, Seoul National University) ;
  • Ayoung Kim (Mechanical Engineering, Seoul National University)
  • 투고 : 2023.10.30
  • 심사 : 2023.12.18
  • 발행 : 2024.02.29
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초록

High-precision 3D Object Detection is a crucial component within autonomous driving systems, with far-reaching implications for subsequent tasks like multi-object tracking and path planning. In this paper, we propose a novel approach designed to enhance the performance of 3D Object Detection, especially in heading angle estimation by employing a moving object segmentation technique. Our method starts with extracting point-wise moving labels via a process of moving object segmentation. Subsequently, these labels are integrated into the LiDAR Pointcloud data and integrated data is used as inputs for 3D Object Detection. We conducted an extensive evaluation of our approach using the KITTI-road dataset and achieved notably superior performance, particularly in terms of AOS, a pivotal metric for assessing the precision of 3D Object Detection. Our findings not only underscore the positive impact of our proposed method on the advancement of detection performance in lidar-based 3D Object Detection methods, but also suggest substantial potential in augmenting the overall perception task capabilities of autonomous driving systems.

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과제정보

This research was conducted with the support of the 'National R&D Project for Smart Construction Technology (23SMIP-A158708-04)' funded by the Korea Agency for Infrastructure Technology Advancement under the Ministry of Land, Infrastructure and Transport, and managed by the Korea Expressway Corporation

참고문헌

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