Distant Vehicle Detection Using Radar and Vision
2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)(2019)
摘要
For autonomous vehicles to be able to operate successfully they need to be aware of other vehicles with sufficient time to make safe, stable plans. Given the possible closing speeds between two vehicles, this necessitates the ability to accurately detect distant vehicles. Many current image-based object detectors using convolutional neural networks exhibit excellent performance on existing datasets such as KITTI. However, the performance of these networks falls when detecting small (distant) objects. We demonstrate that incorporating radar data can boost performance in these difficult situations. We also introduce an efficient automated method for training data generation using cameras of different focal lengths.
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关键词
distant vehicle detection,autonomous vehicles,convolutional neural networks,image-based object detectors,radar data,vision,KITTI,cameras,focal lengths
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