SNE-RoadSeg+: Rethinking Depth-Normal Translation and Deep Supervision for Freespace Detection

Hengli Wang,Rui Fan,Peide Cai,Ming Liu,Hengli Wang,Rui Fan,Peide Cai,Ming Liu

Freespace detection is a fundamental component of autonomous driving perception. Recently, deep convolutional neural networks (DCNNs) have achieved impressive performance for this task. In particular, SNE-RoadSeg, our previously proposed method based on a surface normal estimator (SNE) and a data-fusion DCNN (RoadSeg), has achieved impressive performance in freespace detection. However, SNE-RoadSe...