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Please use this identifier to cite or link to this item: http://dspace.bits-pilani.ac.in:8080/jspui/handle/123456789/11851
Title: Complete Scene Parsing for Autonomous Navigation in Unstructured Environments
Authors: Rout, Bijay Kumar
Keywords: Mechanical Engineering
Semantic segmentation
Instance Segmentation
Autonomous navigation
Indian Driving Dataset
Unstructured environment
Issue Date: 2020
Publisher: IEEE
Abstract: Recent developments in Machine Learning and Computer Vision have enabled progress in autonomous navigation. However, most of the existing research focuses on European driving situations, with not much progress made in the Indian context. Our paper aims to achieve complete spatial understanding for the Indian context. Our focus is directed towards Semantic Segmentation and Instance Segmentation. We aim to develop an autonomous navigation pipeline by a combination of both approaches. Using DeepLabv3+ for Semantic Segmentation we achieve an mIOU of 68.58%, and using Hybrid Task Cascade we achieve an Average Recall of 56.5%.
URI: https://ieeexplore.ieee.org/abstract/document/9081829
http://dspace.bits-pilani.ac.in:8080/xmlui/handle/123456789/11851
Appears in Collections:Department of Mechanical engineering

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