Bat El Shlomo

Netalee Efrat, Max Bluvstein, Shaul Oron et al.

3D-LaneNet+ is a camera-based DNN method for anchor free 3D lane detection which is able to detect 3d lanes of any arbitrary topology such as splits, merges, as well as short and perpendicular lanes. We follow recently proposed 3D-LaneNet, and extend it to enable the detection of these previously unsupported lane topologies. Our output representation is an anchor free, semi-local tile representation that breaks down lanes into simple lane segments whose parameters can be learnt. In addition we learn, per lane instance, feature embedding that reasons for the global connectivity of locally detected segments to form full 3d lanes. This combination allows 3D-LaneNet+ to avoid using lane anchors, non-maximum suppression, and lane model fitting as in the original 3D-LaneNet. We demonstrate the efficacy of 3D-LaneNet+ using both synthetic and real world data. Results show significant improvement relative to the original 3D-LaneNet that can be attributed to better generalization to complex lane topologies, curvatures and surface geometries.

Netalee Efrat, Max Bluvstein, Noa Garnett et al.

We propose a novel camera-based DNN method for 3D lane detection with uncertainty estimation. Our method is based on a semi-local, BEV, tile representation that breaks down lanes into simple lane segments. It combines learning a parametric model for the segments along with a deep feature embedding that is then used to cluster segment together into full lanes. This combination allows our method to generalize to complex lane topologies, curvatures and surface geometries. Additionally, our method is the first to output a learning based uncertainty estimation for the lane detection task. The efficacy of our method is demonstrated in extensive experiments achieving state-of-the-art results for camera-based 3D lane detection, while also showing our ability to generalize to complex topologies, curvatures and road geometries as well as to different cameras. We also demonstrate how our uncertainty estimation aligns with the empirical error statistics indicating that it is well calibrated and truly reflects the detection noise.

Elad Plaut, Erez Ben Yaacov, Bat El Shlomo

Existing monocular 3D object detection methods have been demonstrated on rectilinear perspective images and fail in images with alternative projections such as those acquired by fisheye cameras. Previous works on object detection in fisheye images have focused on 2D object detection, partly due to the lack of 3D datasets of such images. In this work, we show how to use existing monocular 3D object detection models, trained only on rectilinear images, to detect 3D objects in images from fisheye cameras, without using any fisheye training data. We outperform the only existing method for monocular 3D object detection in panoramas on a benchmark of synthetic data, despite the fact that the existing method trains on the target non-rectilinear projection whereas we train only on rectilinear images. We also experiment with an internal dataset of real fisheye images.

Liat Sless, Gilad Cohen, Bat El Shlomo et al.

Occupancy grid mapping is an important component in road scene understanding for autonomous driving. It encapsulates information of the drivable area, road obstacles and enables safe autonomous driving. Radars are an emerging sensor in autonomous vehicle vision, becoming more widely used due to their long range sensing, low cost, and robustness to severe weather conditions. Despite recent advances in deep learning technology, occupancy grid mapping from radar data is still mostly done using classical filtering approaches.In this work, we propose learning the inverse sensor model used for occupancy grid mapping from clustered radar data. This is done in a data driven approach that leverages computer vision techniques. This task is very challenging due to data sparsity and noise characteristics of the radar sensor. The problem is formulated as a semantic segmentation task and we show how it can be learned using lidar data for generating ground truth. We show both qualitatively and quantitatively that our learned occupancy net outperforms classic methods by a large margin using the recently released NuScenes real-world driving data.