Traffic Scene Segmentation Based on RGB-D Image and Deep Learning
Abstract
Semantic segmentation of traffic scenes has potential applications in intelligent transportation systems. Deep learning techniques can improve segmentation accuracy, especially when the information from depth maps is introduced. However, little research has been done on the application of depth maps to the segmentation of traffic scene. In this paper, we propose a method for semantic segmentation of traffic scenes based on RGB-D images and deep learning. The semi-global stereo matching algorithm and the fast global image smoothing method are employed to obtain a smooth disparity map. We present a new deep fully convolutional neural network architecture for semantic pixel-wise segmentation. We test the performance of the proposed network architecture using RGB-D images as input and compare the results with the method that only takes RGB images as input. The experimental results show that the introduction of the disparity map can help to improve the semantic segmentation accuracy and that our proposed network architecture achieves good real-time performance and competitive segmentation accuracy.
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By using them with RGB images as input, cross-modal perceiving has attracted increasing attention in real-world applications, e.g., scene parsing for autonomous driving [181], [85], object detection and tracking in low-light scenarios [182], [183], and action recognition [184].
“By using them with RGB images as input, cross-modal perceiving has attracted increasing attention in real-world applications, e.g., scene parsing for autonomous driving [181], [85], object detection and tracking in low-light scenarios [182], [183], and action recognition [184].”
From Empowering things with intelligence: a survey of the progress, challenges, and opportunities in artificial intelligence of things (2021) · cites this paper as [181]
There are three ways of fusing multi-modal data: at the input level [181], at the feature level [185], [186], [85], [182], [183], and at the output level [184].
“There are three ways of fusing multi-modal data, i.e., at the input level [181], at the feature level [185], [186], [85], [182], [183], and at the output level [184], respectively.”
From Empowering things with intelligence: a survey of the progress, challenges, and opportunities in artificial intelligence of things (2021) · cites this paper as [181]
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- Authors
- Li, L., Qian, B., Lian, J., Zheng, W., & Zhou, Y.
- Affiliations
- Dalian University of Technology (CN)
- Venue
- IEEE Transactions on Intelligent Transportation Systems
- Published
- 2018-05
- Volume
- 19
- Issue
- 5
- Pages
- 1664-1669
- ISSN
- 1524-9050 (ISSN-L)
- 1558-0016
- OpenAlex
- W2743353723
- Cited by
- 77
- References
- 30
- Citations by year
- 2026: 3 · 2025: 8 · 2024: 1 · 2023: 9 · 2022: 13 · 2021: 13 · 2020: 19 · 2019: 7 · 2018: 4
- FWCI
- 3.41
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Intelligent Transportation Systems (publishedVersion)
- Funders
- National Natural Science Foundation of China (61473057, 61203171)
- China Fundamental Research Funds for the Central Universities (DUT15LK13, DUT17LAB11)
- Topics
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Neural Network Applications
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Physical Sciences › Engineering › Automotive Engineering › Autonomous Vehicle Technology and Safety
- Keywords
- semantic segmentation, RGB-D, disparity map, stereo matching, fully convolutional network, pixel-level segmentation, intelligent transportation systems
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
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