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dc.contributor.authorMayuku, Orighomisan
dc.contributor.authorSurgenor, Brian W.
dc.contributor.authorMarshall, Joshua A.
dc.date.accessioned2021-07-12T15:44:32Z
dc.date.available2021-07-12T15:44:32Z
dc.date.issued2021-07-05
dc.identifier.urihttp://hdl.handle.net/1974/28952
dc.description.abstractFor use in off-road autonomous driving applications, we propose and study the use of multi-resolution local binary pattern texture descriptors to improve overall semantic segmentation performance and reduce class imbalance effects in off-road visual datasets. Our experiments, using a challenging publicly available off-road dataset as well as our own off-road dataset, show that texture features provide added flexibility towards reducing class imbalance effects, and that fusing color and texture features can improve segmentation performance. Finally, we demonstrate domain adaptation limitations in nominally similar off-road environments by cross-comparing the segmentation performance of convolutional neural networks trained on both datasets.en
dc.language.isoenen
dc.publisherIEEEen
dc.relationCollaborative Research & Development Grants Programen
dc.subjectroboticsen
dc.subjectvisualizationen
dc.subjectimage colour analysisen
dc.subjectconvolutional neural networksen
dc.subjectautonomous vehiclesen
dc.titleA self-supervised near-to-far approach for terrain-adaptive off-road autonomous drivingen
dc.typepreprinten
dc.identifier.doi
project.funder.identifierNSERC: http://dx.doi.org/10.13039/501100000038en
project.funder.nameNatural Sciences and Engineering Research Council of Canadaen
oaire.awardNumberDNDPJ 533392 - 18en


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