Multi-resolution and multi-domain analysis of off-road datasets for autonomous driving
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Authors
Mayuku, Orighomisan
Surgenor, Brian W.
Marshall, Joshua A.
Date
2021-07-05
Type
preprint
Language
en
Keyword
image features , robotics , domain adaptation , image segmentation , computer vision , autonomous vehicles
Alternative Title
Abstract
For use in off-road autonomous driving applications, we propose and study the use of multi-resolution local binary pat- tern 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.
Description
Citation
Publisher
IEEE