An Enhanced SqueezeNet Based Network for Real-Time Road-Object Segmentation

Chao Li, Xian Wei, Hui Yu, Jielong Guo, Xuan Tang, Yuxuan Zhang

Abstract: Point cloud image segmentation plays an important role in self-driving. SqueezeSeg network has good performance in terms of accuracy and calculation speed on point cloud segmentation. However, potential details might be lost during the computational processing of SqueezeSeg and other similar kinds of networks. In this work, we try to retain the detailed information of the image by combining PointSeg network and the conditional random field in order to capture more data information and improve the recall rate. These two processes can complement and fully play their respective advantages. The proposed method has been tested on KITTI dataset. Simulation results demonstrate that our method can overcome the shortcomings of the SqueezeSeg network and similar kinds of networks on the extraction of detailed information.