IndiVNet A区域自适应语义图像分割用于非结构化环境中的自动驾驶
Pritam Chakraborty1, Anjan Bandyopadhyay1, Siddhartha Bhattacharyya2
1School of Computer Engineering, Kalinga Institute of Industrial Technology, 751024, Bhubaneswar, India.
Scientific reports
|December 19, 2025
概括
我们开发了IndiVNet,这是一个新的语义细分模型,用于在具有挑战性的非结构化环境中进行自主导航. 它在印度道路上显示了更好的性能,并且可以很好地将其推广到其他数据集.
科学领域:
- 计算机视觉 计算机视觉
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
背景情况:
- 自主导航在发展中国家面临挑战,原因是交通异质和道路基础设施不佳.
- 目前的语义细分模型,在结构化数据上训练,缺乏对非结构化环境的概括能力.
研究的目的:
- 提出IndiVNet,一个新的语义细分架构,专为非结构化的印度驾驶场景而设计.
- 提高自主导航系统在各种现实环境中的稳定性和可扩展性.
主要方法:
- 在IndiVNet架构中引入了一个渐进扩展编码器 (6→16),以有效地捕获多个规模的上下文信息.
- 在印度驾驶数据集 (IDD) 和CAMVID数据集上训练和评估模型.
主要成果:
- 在IDD上,IndiVNet实现了69.98%的欧盟交叉点 (mIoU) 平均,超过现有的CNN和变压器基线.
- 通过在CAMVID数据集上达到73.2%的mIoU,证明了强大的跨领域概括性.
- 该模型平衡了上下文理解与实时处理效率.
结论:
- 印度维网提供了一个可扩展和区域意识的解决方案,用于在复杂,非结构化的环境中进行强大的自主导航.
- 拟议的架构解决了当前车型在各种驾驶条件下的局限性.
- 这项工作有助于在发展中国家推进自动驾驶技术.
相关概念视频
Neural Circuits
Neural circuits and neuronal pools are two of the main structures found in the nervous system. Neural circuits are networks of neurons that work together to carry out a specific task or process. They consist of interconnected neurons and glial cells, which provide structural and metabolic support.
Neuronal pools are collections of nerve cells with similar functions and interact through chemical and electrical signals. These pools include both interneurons (the central neural circuit nodes that...
Neuronal pools are collections of nerve cells with similar functions and interact through chemical and electrical signals. These pools include both interneurons (the central neural circuit nodes that...
Motor and Sensory Areas of the Cortex
The cerebral cortex, the brain's outermost layer, is pivotal in processing complex cognitive tasks, emotions, and various sensory inputs and executing voluntary motor activities. This intricate structure is divided into three primary functional areas: the motor areas, sensory areas, and association areas.
Motor Areas
The motor areas located in the frontal lobe are central to controlling voluntary movements. This region is further subdivided into the primary motor cortex and the premotor cortex.
Motor Areas
The motor areas located in the frontal lobe are central to controlling voluntary movements. This region is further subdivided into the primary motor cortex and the premotor cortex.
Field Application of Global Positioning System
The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
Levels of Use of a GIS
Geographic Information Systems (GIS) operate across three levels of application, each representing an increasing degree of complexity: data management, analysis, and prediction. These levels reflect the expanding functionality and versatility of GIS technology in handling spatial data for diverse purposes.Data ManagementAt its foundational level, GIS serves as a tool for data management, enabling the input, storage, retrieval, and organization of spatial data. This level is often employed in...
Natural and Artificial Concepts
In psychology, concepts can be divided into two categories: natural and artificial. Natural concepts are formed through direct or indirect experiences. For example, consider the concept of snow. If you live in a place with regular snowfall, such as Essex Junction, Vermont, you know snow through direct experiences. You’ve seen it fall, touched it, shoveled it, and played in it. You recognize its texture, appearance, and even its smell. In contrast, if you live on an island like Saint Vincent in...
Automatic Processing and Automatic Social Behavior
Automatic processing refers to the cognitive operations that occur without conscious intent or awareness, playing a fundamental role in shaping social cognition and behavior. These processes enable individuals to navigate complex social environments efficiently by relying on mental shortcuts and pre-existing knowledge structures known as schemas. One of the most influential mechanisms underlying automatic processing is priming, which subtly activates mental representations through exposure to...


