MF-MOS: A Motion-Focused Model for Moving Object Segmentation

Jintao Cheng, Kang Zeng, Zhuoxu Huang, Xiaoyu Tang, Jin Wu, Chengxi Zhang, Xieyuanli Chen, Rui Fan

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)

4 Dyfyniadau (Scopus)

Crynodeb

Moving object segmentation (MOS) provides a reliable solution for detecting traffic participants and thus is of great interest in the autonomous driving field. Dynamic capture is always critical in the MOS problem. Previous methods capture motion features from the range images directly. Differently, we argue that the residual maps provide greater potential for motion information, while range images contain rich semantic guidance. Based on this intuition, we propose MF-MOS, a novel motion-focused model with a dual-branch structure for LiDAR moving object segmentation. Novelly, we decouple the spatial-temporal information by capturing the motion from residual maps and generating semantic features from range images, which are used as movable object guidance for the motion branch. Our straightforward yet distinctive solution can make the most use of both range images and residual maps, thus greatly improving the performance of the LiDAR-based MOS task. Remarkably, our MF-MOS achieved a leading IoU of 76.7% on the MOS leaderboard of the SemanticKITTI dataset upon submission, demonstrating the current state-of-the-art performance. The implementation of our MF-MOS has been released at https://github.com/SCNU-RISLAB/MF-MOS.

Iaith wreiddiolSaesneg
Teitl2024 IEEE International Conference on Robotics and Automation (ICRA)
CyhoeddwrIEEE Press
Tudalennau12499-12505
Nifer y tudalennau7
ISBN (Electronig)9798350384574
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 13 Mai 2024
Digwyddiad2024 IEEE International Conference on Robotics and Automation, ICRA 2024 - Yokohama, Siapan
Hyd: 13 Mai 202417 Mai 2024

Cyfres gyhoeddiadau

EnwProceedings - IEEE International Conference on Robotics and Automation
ISSN (Argraffiad)1050-4729

Cynhadledd

Cynhadledd2024 IEEE International Conference on Robotics and Automation, ICRA 2024
Gwlad/TiriogaethSiapan
DinasYokohama
Cyfnod13 Mai 202417 Mai 2024

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