ISETAuto: Detecting Vehicles With Depth and Radiance Information

نویسندگان

چکیده

Autonomous driving applications use two types of sensor systems to detect vehicles - depth sensing LiDAR and radiance cameras. We compare the performance (average precision) a ResNet for vehicle detection in complex, daytime, scenes when input is map [D = d(x,y)], image [L r(x,y)], or both [D,L]. (1) When spatial sampling resolution are equal typical camera resolutions, detects at higher average precision from than radiance. (2) matches range current devices, depth. (3) A hybrid system that combines has using alone. confirm these observations simulation real-world data. explain advantage combining by noting information have complementary weaknesses. The data limited dynamic range, motion blur illumination variation; low resolution. effectively sources improve detection.

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ژورنال

عنوان ژورنال: IEEE Access

سال: 2021

ISSN: ['2169-3536']

DOI: https://doi.org/10.1109/access.2021.3063692