Presentation | 2022-03-27 Range-Equivariant Convolution for Spherical Projection-based Segmentation of LiDAR Point Clouds Hidetaka Marumo, Takashi Matsubara, |
---|---|
PDF Download Page | PDF download Page Link |
Abstract(in Japanese) | (See Japanese page) |
Abstract(in English) | In autonomous driving, LiDAR point clouds segmentation has attracted much attention. For efficiency and ease of design, the mainstream methods convert the point clouds into 2D range-images by spherical projection and feed them to 2D convolutional neural networks. To boost the accuracy, scale-equivariance incorporated into the network is crucial because distant objects are smaller than nearby ones in images. Focusing on the relationship between the object distance and the scale ratio in images, we propose a novel scale-equivariant convolutional method, which transforms scaled features into unscaled ones by weighting kernels according to the distance of objects. |
Keyword(in Japanese) | (See Japanese page) |
Keyword(in English) | LiDAR point clouds / semantic segmentation / spherical projection / scale-equivariance / autonomous driving |
Paper # | CCS2021-49 |
Date of Issue | 2022-03-20 (CCS) |
Conference Information | |
Committee | CCS |
---|---|
Conference Date | 2022/3/27(1days) |
Place (in Japanese) | (See Japanese page) |
Place (in English) | RUSUTSU RESORT HOTEL & CONVENTION |
Topics (in Japanese) | (See Japanese page) |
Topics (in English) | |
Chair | Tetsuya Asai(Hokkaido Univ.) |
Vice Chair | Megumi Akai(Hokkaido Univ.) / Masaki Aida(TMU) |
Secretary | Megumi Akai(TDK) / Masaki Aida(Mie Univ.) |
Assistant | Hidehiro Nakano(Tokyo City Univ.) / Hiroyasu Ando(Tsukuba Univ.) / Takashi Matsubara(Osaka Univ.) / Sumiko Miyata(Shibaura Inst. of Tech.) |
Paper Information | |
Registration To | Technical Committee on Complex Communication Sciences |
---|---|
Language | ENG |
Title (in Japanese) | (See Japanese page) |
Sub Title (in Japanese) | (See Japanese page) |
Title (in English) | Range-Equivariant Convolution for Spherical Projection-based Segmentation of LiDAR Point Clouds |
Sub Title (in English) | |
Keyword(1) | LiDAR point clouds |
Keyword(2) | semantic segmentation |
Keyword(3) | spherical projection |
Keyword(4) | scale-equivariance |
Keyword(5) | autonomous driving |
1st Author's Name | Hidetaka Marumo |
1st Author's Affiliation | Osaka University(Osaka Univ) |
2nd Author's Name | Takashi Matsubara |
2nd Author's Affiliation | Osaka University(Osaka Univ) |
Date | 2022-03-27 |
Paper # | CCS2021-49 |
Volume (vol) | vol.121 |
Number (no) | CCS-442 |
Page | pp.pp.78-83(CCS), |
#Pages | 6 |
Date of Issue | 2022-03-20 (CCS) |