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GndNet: Fast Ground Plane Estimation and Point Cloud Segmentation for Autonomous Vehicles

Anshul Paigwar 1 Özgür Erkent 1 David Sierra González 1 Christian Laugier 1
1 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
Inria Grenoble - Rhône-Alpes, CITI - CITI Centre of Innovation in Telecommunications and Integration of services
Abstract : Ground plane estimation and ground point seg-mentation is a crucial precursor for many applications in robotics and intelligent vehicles like navigable space detection and occupancy grid generation, 3D object detection, point cloud matching for localization and registration for mapping. In this paper, we present GndNet, a novel end-to-end approach that estimates the ground plane elevation information in a grid-based representation and segments the ground points simultaneously in real-time. GndNet uses PointNet and Pillar Feature Encoding network to extract features and regresses ground height for each cell of the grid. We augment the SemanticKITTI dataset to train our network. We demonstrate qualitative and quantitative evaluation of our results for ground elevation estimation and semantic segmentation of point cloud. GndNet establishes a new state-of-the-art, achieves a run-time of 55Hz for ground plane estimation and ground point segmentation.
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https://hal.inria.fr/hal-02927350
Contributor : Anshul Paigwar <>
Submitted on : Tuesday, September 1, 2020 - 3:55:03 PM
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Anshul Paigwar, Özgür Erkent, David Sierra González, Christian Laugier. GndNet: Fast Ground Plane Estimation and Point Cloud Segmentation for Autonomous Vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2020, Las Vegas, NV, United States. ⟨hal-02927350⟩

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