Bird's Eye View Semantic Segmentation based on Improved Transformer for Automatic Annotation

• Tianjiao Liang,
• Weiguo Pan,
• Hong Bao,
• Xinyue Fan,
• Han Li,

Vol. 17, No. 8, August 31, 2023
10.3837/tiis.2023.08.002, Download Paper (Free):

• Transformer
• Semantic segmentation
• High-Definition maps
• Automatic Annotation

Abstract

High-definition (HD) maps can provide precise road information that enables an autonomous driving system to effectively navigate a vehicle. Recent research has focused on leveraging semantic segmentation to achieve automatic annotation of HD maps. However, the existing methods suffer from low recognition accuracy in automatic driving scenarios, leading to inefficient annotation processes. In this paper, we propose a novel semantic segmentation method for automatic HD map annotation. Our approach introduces a new encoder, known as the convolutional transformer hybrid encoder, to enhance the model's feature extraction capabilities. Additionally, we propose a multi-level fusion module that enables the model to aggregate different levels of detail and semantic information. Furthermore, we present a novel decoupled boundary joint decoder to improve the model's ability to handle the boundary between categories. To evaluate our method, we conducted experiments using the Bird's Eye View point cloud images dataset and Cityscapes dataset. Comparative analysis against state-of-the-art methods demonstrates that our model achieves the highest performance. Specifically, our model achieves an mIoU of 56.26%, surpassing the results of SegFormer with an mIoU of 1.47%. This innovative promises to significantly enhance the efficiency of HD map automatic annotation.

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