Leveraging Road Area Semantic Segmentation with Auxiliary Steering Task

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Abstract

Robustness of different pattern recognition methods is one of the key challenges in autonomous driving, especially when driving in the high variety of road environments and weather conditions, such as gravel roads and snowfall. Although one can collect data from these adverse conditions using cars equipped with sensors, it is quite tedious to annotate the data for training. In this work, we address this limitation and propose a CNN-based method that can leverage the steering wheel angle information to improve the road area semantic segmentation. As the steering wheel angle data can be easily acquired with the associated images, one could improve the accuracy of road area semantic segmentation by collecting data in new road environments without manual data annotation. We demonstrate the effectiveness of the proposed approach on two challenging data sets for autonomous driving and show that when the steering task is used in our segmentation model training, it leads to a 0.1–2.9% gain in the road area mIoU (mean Intersection over Union) compared to the corresponding reference transfer learning model.

Original languageEnglish
Title of host publicationImage Analysis and Processing – ICIAP 2022 - 21st International Conference, 2022, Proceedings
EditorsStan Sclaroff, Cosimo Distante, Marco Leo, Giovanni M. Farinella, Federico Tombari
Pages727-738
Number of pages12
DOIs
Publication statusPublished - 2022
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Image Analysis and Processing - Lecce, Italy
Duration: 23 May 202227 May 2022
Conference number: 21

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer
Volume13231 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

ConferenceInternational Conference on Image Analysis and Processing
Abbreviated titleICIAP
Country/TerritoryItaly
CityLecce
Period23/05/202227/05/2022

Keywords

  • Autonomous driving
  • Domain adaptation
  • Multi-task learning
  • Road area semantic segmentation
  • Transfer learning

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