Abstract：Common road segmentation methods are often limited by environmental noise and the roughness of the segmenting edges. A road segmentation method was developed to address these shortcomings by combining a fully convolutional neural network and a conditional random field. The feature representation in the neural networks models the road segmentation as a binary classification problem. A VGG-16 deep convolutional neural network based fully convolutional network was constructed to classify each road image end to end into the road and the background. Then, the fully-connected conditional random field (CRF) was used for fine segmentation to refine the coarse edges obtained from the binary classification. Tests of road segmentation benchmark datasets acquired in real environments show that this method can achieve 98.13% segmentation accuracy and real-time processing with 0.84 s perimage.
宋青松, 张超, 陈禹, 王兴莉, 杨小军. 组合全卷积神经网络和条件随机场的道路分割[J]. 清华大学学报（自然科学版）, 2018, 58(8): 725-731.
SONG Qingsong, ZHANG Chao, CHEN Yu, WANG Xingli, YANG Xiaojun. Road segmentation using full convolutional neural networks with conditional random fields. Journal of Tsinghua University(Science and Technology), 2018, 58(8): 725-731.
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