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Erschienen in:
Contextual-Based Image Inpainting: Infer, Match, and Translate Kapitel lesen Erstes Kapitel lesen

2018 | OriginalPaper | Buchkapitel

Stereo Vision-Based Semantic 3D Object and Ego-Motion Tracking for Autonomous Driving

verfasst von : Peiliang Li, Tong Qin, Shaojie Shen

Erschienen in: Computer Vision – ECCV 2018

Verlag: Springer International Publishing

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Abstract

We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D bounding box using end-to-end approaches, we propose to use the easy-to-labeled 2D detection and discrete viewpoint classification together with a light-weight semantic inference method to obtain rough 3D object measurements. Based on the object-aware-aided camera pose tracking which is robust in dynamic environments, in combination with our novel dynamic object bundle adjustment (BA) approach to fuse temporal sparse feature correspondences and the semantic 3D measurement model, we obtain 3D object pose, velocity and anchored dynamic point cloud estimation with instance accuracy and temporal consistency. The performance of our proposed method is demonstrated in diverse scenarios. Both the ego-motion estimation and object localization are compared with the state-of-of-the-art solutions.

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Vorheriges Kapitel Pairwise Relational Networks for Face Recognition
Nächstes Kapitel A+D Net: Training a Shadow Detector with Adversarial Shadow Attenuation
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Metadaten
Titel
Stereo Vision-Based Semantic 3D Object and Ego-Motion Tracking for Autonomous Driving
verfasst von
Peiliang Li
Tong Qin
Shaojie Shen
Copyright-Jahr
2018
Buch
Computer Vision – ECCV 2018

Print ISBN: 978-3-030-01215-1

Electronic ISBN: 978-3-030-01216-8

Copyright-Jahr: 2018

DOI
https://doi.org/10.1007/978-3-030-01216-8_40