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Semantic Segmentation and Depth Estimation with RGB and DVS Sensor Fusion for Multi-view Driving Perception

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Pattern Recognition (ACPR 2021)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 13188))

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Abstract

In this research, we present a novel deep multi-task learning model to handle the perception stage of an autonomous driving system. The model leverages the fusion of RGB and dynamic vision sensor (DVS) images to perform semantic segmentation and depth estimation in four different perspectives of view simultaneously. As for the experiment, CARLA simulator is used to generate thousands of simulation data for training, validation, and testing processes. A dynamically changing environment with various weather conditions, daytime, maps, and non-player characters (NPC) is also considered to simulate a more realistic condition with expecting a better generalization of the model. An ablation study is conducted by modifying the network architecture to evaluate the influence of the sensor fusion technique. Based on the test result on 2 different datasets, the model that leverages feature maps sharing from RGB and DVS encoders is performing better. Furthermore, we show that our model can inference faster and have a comparable performance against another recent model. Official implementation code is shared at https://github.com/oskarnatan/RGBDVS-fusion.

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Authors and Affiliations

  1. Department of Computer Science and Engineering, Toyohashi University of Technology, Aichi, 441-8580, Japan

    Oskar Natan & Jun Miura

  2. Department of Computer Science and Electronics, Universitas Gadjah Mada, Yogyakarta, 55281, Indonesia

    Oskar Natan

Authors
  1. Oskar Natan
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  2. Jun Miura
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Corresponding author

Correspondence to Oskar Natan .

Editor information

Editors and Affiliations

  1. Korea University, Seoul, Korea (Republic of)

    Christian Wallraven

  2. Nanjing University, Nanjing, China

    Qingshan Liu

  3. Osaka University, Osaka, Japan

    Hajime Nagahara

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Natan, O., Miura, J. (2022). Semantic Segmentation and Depth Estimation with RGB and DVS Sensor Fusion for Multi-view Driving Perception. In: Wallraven, C., Liu, Q., Nagahara, H. (eds) Pattern Recognition. ACPR 2021. Lecture Notes in Computer Science, vol 13188. Springer, Cham. https://doi.org/10.1007/978-3-031-02375-0_26

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  • DOI: https://doi.org/10.1007/978-3-031-02375-0_26

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-02374-3

  • Online ISBN: 978-3-031-02375-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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