Reutlingen University, Reutlingen, Germany.

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Abstract—For autonomously driving cars and intelligent vehicles it is crucial to understand the scene context including objects in the surrounding. A fundamental technique accomplishing this is scene labeling. That is, assigning a semantic class to each pixel in a scene image. This task is commonly tackled quite well by fully convolutional neural networks (FCN). Crucial factors are a small model size and a low execution time. This work presents the first method that exploits depth cues together with confidence estimates in a CNN. To this end, novel experimentally grounded network architecture is proposed to perform robust scene labeling that does not require costly preprocessing like CRFs or LSTMs as commonly used in related work. The effectiveness of this approach is demonstrated in an extensive evaluation on a challenging real-world dataset. The new architecture is highly optimized for high accuracy and low execution time.

Index Terms—CNN architecture, deep convolutional neural networks, depth information, semantic pixel-wise segmentation.

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Cite: Manuel Jasch, Thomas Weber, Matthias Rätsch, "Fast and Robust RGB-D Scene Labeling for Autonomous Driving," Journal of Computers vol. 13, no. 4, pp. 393-400, 2018.