Scene understanding for autonomous vehicles with deep learning

• Main Author: Wang, Dongying
• Other Authors: Wang Dan Wei
• Format: Thesis-Master by Coursework
• Language: English
• Published: Nanyang Technological University 2022
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/159406
• Institution: Nanyang Technological University

This project aimed to carry out algorithm which is able to generate semantic images and then fuse the semantic images with point cloud to obtain point cloud with semantic information for the scene understanding tasks. This project can be seen as a base for scene understanding task, which covers a wide range of data designing and processing work. First of all, labeling strategies designed for semantic segmentation aimed to help with scene understanding tasks have been carried out. In addition, for semantic information generation, a semantic segmentation network integrating attention mechanism and all MLP layers upsampling technique was applied. Finally, to get abundant information, the semantic images are fused with the point cloud using an algorithm based on robotics geometric projection theories.