Semantic Segmentation of Road Profiles for Efficient Sensing in Autonomous Driving

Abstract

In vision-based autonomous driving, understanding spatial layout of road and traffic is required at each moment. This involves the detection of road, vehicle, pedestrian, etc. in images. In driving video, the spatial positions of various patterns are further tracked for their motion. This spatial-to-temporal approach inherently demands a large computational resource. In this work, however, we take a temporal-to-spatial approach to cope with fast moving vehicles in autonomous navigation. We sample one-pixel line at each frame in driving video, and the temporal congregation of lines from consecutive frames forms a road profile image. The temporal connection of lines also provides layout information of road and surrounding environment. This method reduces the processing data to a fraction of video in order to catch up vehicle moving speed. The key issue now is to know different regions in the road profile; the road profile is divided in real time to road, roadside, lane mark, vehicle, etc. as well as motion events such as stopping and turning of ego-vehicle. We show in this paper that the road profile can be learned through Semantic Segmentation. We use RGB-F images of the road profile to implement Semantic Segmentation to grasp both individual regions and their spatial relations on road effectively. We have tested our method on naturalistic driving video and the results are promising.