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Title: Scene understanding for autonomous vehicles with deep learning
Authors: Wang, Dongying
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2022
Publisher: Nanyang Technological University
Source: Wang, D. (2022). Scene understanding for autonomous vehicles with deep learning. Master's thesis, Nanyang Technological University, Singapore.
Abstract: This project aimed to carry out algorithm which is able to generate semantic images and then fuse the semantic images with point cloud to obtain point cloud with semantic information for the scene understanding tasks. This project can be seen as a base for scene understanding task, which covers a wide range of data designing and processing work. First of all, labeling strategies designed for semantic segmentation aimed to help with scene understanding tasks have been carried out. In addition, for semantic information generation, a semantic segmentation network integrating attention mechanism and all MLP layers upsampling technique was applied. Finally, to get abundant information, the semantic images are fused with the point cloud using an algorithm based on robotics geometric projection theories.
Schools: School of Electrical and Electronic Engineering 
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:EEE Theses

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