csBoundary: 航空画像からの都市規模道路境界検出による高精度地図生成
csBoundary: City-scale Road-boundary Detection in Aerial Images for High-definition Maps
航空画像パッチから道路境界の連続グラフを直接推定し、パッチ間で統合することで都市規模の道路境界を自動検出するシステムを提案した論文。
著者: Zhenhua Xu, Yuxuan Liu, Lu Gan, Xiangcheng Hu, Yuxiang Sun, Ming Liu, Lujia Wang
分類: cs.CV, cs.RO
原文アブストラクト
High-Definition (HD) maps can provide precise geometric and semantic information of static traffic environments for autonomous driving. Road-boundary is one of the most important information contained in HD maps since it distinguishes between road areas and off-road areas, which can guide vehicles to drive within road areas. But it is labor-intensive to annotate road boundaries for HD maps at the city scale. To enable automatic HD map annotation, current work uses semantic segmentation or iterative graph growing for road-boundary detection. However, the former could not ensure topological correctness since it works at the pixel level, while the latter suffers from inefficiency and drifting issues. To provide a solution to the aforementioned problems, in this letter, we propose a novel system termed csBoundary to automatically detect road boundaries at the city scale for HD map annotation. Our network takes as input an aerial image patch, and directly infers the continuous road-boundary graph (i.e., vertices and edges) from this image. To generate the city-scale road-boundary graph, we stitch the obtained graphs from all the image patches. Our csBoundary is evaluated and compared on a public benchmark dataset. The results demonstrate our superiority. The accompanied demonstration video is available at our project page \url{https://sites.google.com/view/csboundary/}.
