Detecting Road Obstacles by Erasing Them

Krzysztof Lis, Sina Honari, Pascal Fua, Mathieu Salzmann

Abstract: Vehicles can encounter a myriad of obstacles on the road, and it is impossible to record them all beforehand to train a detector. Instead, we select image patches and inpaint them with the surrounding road texture, which tends to remove obstacles from those patches. We then use a network trained to recognize discrepancies between the original patch and the inpainted one, which signals an erased obstacle.