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Full-Text Articles in Automotive Engineering
Instance Segmentation-Based Depth Completion Using Sensor Fusion And Adaptive Clustering For Autonomous Vehicle Perception, Mohammad Z. El-Yabroudi
Instance Segmentation-Based Depth Completion Using Sensor Fusion And Adaptive Clustering For Autonomous Vehicle Perception, Mohammad Z. El-Yabroudi
Dissertations
Depth sensing is critical for safe and accurate maneuvering in robotics and self-driving car (SDC) applications. Most recent LiDAR sensors, such as Ouster and Velodyne, offer 360 degrees of scanning at the rate of ten frames per second, making them very appropriate for autonomous driving applications. However, LiDAR point cloud data show many shortcomings, especially its data sparsity and unassigned nature, making it very challenging to utilize in applications such as perception, 3D object detection, 3D scene reconstruction, and simultaneous localization and mapping.
In this study, a novel framework using instance image segmentation and the raw LiDAR data for the …