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http://hdl.handle.net/10397/106304
Title: | ICurb : imitation learning-based detection of road curbs using aerial images for autonomous driving | Authors: | Xu, Z Sun, Y Liu, M |
Issue Date: | Apr-2021 | Source: | IEEE robotics and automation letters, Apr. 2021, v. 6, no. 2, p. 1097-1104 | Abstract: | Detection of road curbs is an essential capability for autonomous driving. It can be used for autonomous vehicles to determine drivable areas on roads. Usually, road curbs are detected on-line using vehicle-mounted sensors, such as video cameras and 3-D Lidars. However, on-line detection using video cameras may suffer from challenging illumination conditions, and Lidar-based approaches may be difficult to detect far-away road curbs due to the sparsity issue of point clouds. In recent years, aerial images are becoming more and more worldwide available. We find that the visual appearances between road areas and off-road areas are usually different in aerial images, so we propose a novel solution to detect road curbs off-line using aerial images. The input to our method is an aerial image, and the output is directly a graph (i.e., vertices and edges) representing road curbs. To this end, we formulate the problem as an imitation learning problem, and design a novel network and an innovative training strategy to train an agent to iteratively find the road-curb graph. The experimental results on a public dataset confirm the effectiveness and superiority of our method. This work is accompanied with a demonstration video and a supplementary document at https://tonyxuqaq.github.io/iCurb/. | Keywords: | Autonomous Driving Graph Representation Imitation Learning Road-curb Detection |
Publisher: | Institute of Electrical and Electronics Engineers | Journal: | IEEE robotics and automation letters | EISSN: | 2377-3766 | DOI: | 10.1109/LRA.2021.3056344 | Rights: | © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The following publication Z. Xu, Y. Sun and M. Liu, "iCurb: Imitation Learning-Based Detection of Road Curbs Using Aerial Images for Autonomous Driving," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1097-1104, April 2021 is available at https://doi.org/10.1109/LRA.2021.3056344. |
Appears in Collections: | Journal/Magazine Article |
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Sun_Icurb_Imitation_Learning-Based.pdf | Pre-Published version | 5.62 MB | Adobe PDF | View/Open |
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