Improving Road Detection Results Based on Ensemble Learning and Key Samples Focusing | |
Fan, Siqi2,3; Zhu, Fenghua1,3; Zhang, Hui2,3; Lv, Yisheng2,3; Wang, Xiao3; Xiong, Gang1,3; Wang, Feiyue3 | |
2020-09 | |
会议日期 | 2020-9-20 |
会议地点 | Rhodes, Greece; Online |
DOI | 10.1109/ITSC45102.2020.9294532 |
英文摘要 | Road detection is fundamental for many applications, especially vision-based autonomous driving systems. To improve the accuracy of the detection results, most of previous research focus on designing feature encoders and classifiers. In this paper, a road detection method is proposed based on ensemble learning and key samples focusing. A road detection network is designed, which integrates classification results based on different feature combinations by weighted voting. The outputs of the network are further processed by morphological transformation. To focus on key samples, a novel loss function is proposed. The loss function can attach importance to hard samples and pay different attention to missed detection and false detection. The method is evaluated on KITTI dataset, and its effectiveness is verified. |
源文献作者 | IEEE |
会议录 | Proceedings of the IEEE International Conference on Intelligent Transportation Systems (ITSC) |
语种 | 英语 |
WOS研究方向 | Engineering ; Transportation |
WOS记录号 | WOS:000682770702036 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/48722] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队 |
通讯作者 | Lv, Yisheng |
作者单位 | 1.Clouding Computing Center, Chinese Academy of Sciences 2.School of Artificial Intelligence, University of Chinese Academy of Sciences 3.State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Fan, Siqi,Zhu, Fenghua,Zhang, Hui,et al. Improving Road Detection Results Based on Ensemble Learning and Key Samples Focusing[C]. 见:. Rhodes, Greece; Online. 2020-9-20. |
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