The KITTI Vision Benchmark Suite

Method

Lidar camera fusion network [la] [LidCamNet]

Submitted on 17 Jan. 2018 15:50 by
Luca Caltagirone (Chalmers University of Technology)

Running time:		0.15 s
Environment:		GPU @ 2.5 Ghz (Python)

Method Description:

Please see paper: https://arxiv.org/abs/1809.07941

Parameters:

Latex Bibtex:

@Article{1809.07941,
Author = {Luca Caltagirone and Mauro Bellone and Lennart Svensson and Mattias Wahde},
Title = {LIDAR-Camera Fusion for Road Detection Using Fully Convolutional Neural Networks},
journal = {Robotics and Autonomous Systems},
year = 2018,
ee = {https://doi.org/10.101/j.robot.2018.11.002},
}

Evaluation in Bird's Eye View

Benchmark	MaxF	AP	PRE	REC	FPR	FNR
UM_ROAD	95.62 %	93.54 %	95.77 %	95.48 %	1.92 %	4.52 %
UMM_ROAD	97.08 %	95.51 %	97.28 %	96.88 %	2.98 %	3.12 %
UU_ROAD	94.54 %	92.74 %	94.64 %	94.45 %	1.74 %	5.55 %
URBAN_ROAD	96.03 %	93.93 %	96.23 %	95.83 %	2.07 %	4.17 %

This table as LaTeX

Behavior Evaluation

Benchmark	PRE-20	F1-20	HR-20	PRE-30	F1-30	HR-30	PRE-40	F1-40	HR-40

This table as LaTeX

Road/Lane Detection

The following plots show precision/recall curves for the bird's eye view evaluation.

This figure as: png eps pdf

Distance-dependent Behavior Evaluation

The following plots show the F1 score/Precision/Hitrate with respect to the longitudinal distance which has been used for evaluation.

Visualization of Results

The following images illustrate the performance of the method qualitatively on a couple of test images. We first show results in the perspective image, followed by evaluation in bird's eye view. Here, red denotes false negatives, blue areas correspond to false positives and green represents true positives.

This figure as: png