Shiyu Song

Lei He, Jiwen Lu, Guanghui Wang et al.

Depth estimation and semantic segmentation play essential roles in scene understanding. The state-of-the-art methods employ multi-task learning to simultaneously learn models for these two tasks at the pixel-wise level. They usually focus on sharing the common features or stitching feature maps from the corresponding branches. However, these methods lack in-depth consideration on the correlation of the geometric cues and the scene parsing. In this paper, we first introduce the concept of semantic objectness to exploit the geometric relationship of these two tasks through an analysis of the imaging process, then propose a Semantic Object Segmentation and Depth Estimation Network (SOSD-Net) based on the objectness assumption. To the best of our knowledge, SOSD-Net is the first network that exploits the geometry constraint for simultaneous monocular depth estimation and semantic segmentation. In addition, considering the mutual implicit relationship between these two tasks, we exploit the iterative idea from the expectation-maximization algorithm to train the proposed network more effectively. Extensive experimental results on the Cityscapes and NYU v2 dataset are presented to demonstrate the superior performance of the proposed approach.

Yao Zhou, Guowei Wan, Shenhua Hou et al.

We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on handcrafted features or human-made objects on the road. They are known to be either prone to unstable matching caused by severe appearance or lighting changes, or too scarce to deliver constant and robust localization results in challenging scenarios. In this work, we seek to exploit the deep attention mechanism to search for salient, distinctive and stable features that are good for long-term matching in the scene through a novel end-to-end deep neural network. Furthermore, our learned feature descriptors are demonstrated to be competent to establish robust matches and therefore successfully estimate the optimal camera poses with high precision. We comprehensively validate the effectiveness of our method using a freshly collected dataset with high-quality ground truth trajectories and hardware synchronization between sensors. Results demonstrate that our method achieves a competitive localization accuracy when compared to the LiDAR-based localization solutions under various challenging circumstances, leading to a potential low-cost localization solution for autonomous driving.