The content discusses the development of a novel heterogeneous feature fusion network, SNE-RoadSegV2, focusing on addressing limitations in feature fusion strategies and loss functions. The proposed network demonstrates superior performance in freespace detection across various datasets.
Feature-fusion networks with duplex encoders are highlighted as an effective technique for solving the freespace detection problem. The paper introduces innovative components like a holistic attention module and fallibility-aware loss functions to enhance model training.
The decoder architecture is optimized by incorporating inter-scale and intra-scale skip connections while eliminating redundant ones. This leads to improved accuracy and computational efficiency in freespace detection.
Experimental results showcase the superior performance of SNE-RoadSegV2 compared to other state-of-the-art algorithms across multiple public datasets. Notably, it ranks 1st on the official KITTI Road benchmark.
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by Yi Feng,Yu M... о arxiv.org 03-01-2024
https://arxiv.org/pdf/2402.18918.pdfГлибші Запити