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Deep Learning-based Obstacle Detection and Depth Estimation

Abstract: 

This paper proposed a modified YOLOv3 which has an extra object depth prediction module for obstacle detection and avoidance. We use a pre-processed KITTI dataset to train the proposed, unified model for (i) object detection and (ii) depth prediction and use the AirSim flight simulator to generate synthetic aerial images to verify that our model can be applied in different data domains. Experimental results show that the proposed model compares favorably with other depth map prediction methods in terms of accuracy in the prediction of object depth for pre-processed KITTI dataset, while the unified approach can actually improve both (i) and (ii) at the same time.

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Paper Details

Authors:
Wei-Yu Lin, Dong-Lin Li, and Jen-Hui Chuang
Submitted On:
19 September 2019 - 9:32pm
Short Link:
Type:
Presentation Slides
Event:
Presenter's Name:
Jen-Hui Chuang
Paper Code:
3455
Document Year:
2019
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Document Files

ICIP_Deep Learning-based Obstacle Detection and Depth Estimation.pdf

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[1] Wei-Yu Lin, Dong-Lin Li, and Jen-Hui Chuang, "Deep Learning-based Obstacle Detection and Depth Estimation", IEEE SigPort, 2019. [Online]. Available: http://sigport.org/4754. Accessed: Oct. 20, 2019.
@article{4754-19,
url = {http://sigport.org/4754},
author = {Wei-Yu Lin; Dong-Lin Li; and Jen-Hui Chuang },
publisher = {IEEE SigPort},
title = {Deep Learning-based Obstacle Detection and Depth Estimation},
year = {2019} }
TY - EJOUR
T1 - Deep Learning-based Obstacle Detection and Depth Estimation
AU - Wei-Yu Lin; Dong-Lin Li; and Jen-Hui Chuang
PY - 2019
PB - IEEE SigPort
UR - http://sigport.org/4754
ER -
Wei-Yu Lin, Dong-Lin Li, and Jen-Hui Chuang. (2019). Deep Learning-based Obstacle Detection and Depth Estimation. IEEE SigPort. http://sigport.org/4754
Wei-Yu Lin, Dong-Lin Li, and Jen-Hui Chuang, 2019. Deep Learning-based Obstacle Detection and Depth Estimation. Available at: http://sigport.org/4754.
Wei-Yu Lin, Dong-Lin Li, and Jen-Hui Chuang. (2019). "Deep Learning-based Obstacle Detection and Depth Estimation." Web.
1. Wei-Yu Lin, Dong-Lin Li, and Jen-Hui Chuang. Deep Learning-based Obstacle Detection and Depth Estimation [Internet]. IEEE SigPort; 2019. Available from : http://sigport.org/4754