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Journal of Zhejiang University SCIENCE C 1998 Vol.-1 No.-1 P.

http://doi.org/10.1631/FITEE.2300388


GeeNet: Robust and Fast Point Cloud Completion for Ground Elevation Estimation towards Autonomous Vehicles


Author(s):  Liwen Liu, Weidong Yang, Ben Fei

Affiliation(s):  Shanghai Key Laboratory of Data Science, the School of Computer Science, Fudan University, Shanghai, 200433, China Zhuhai Fudan Innovation Institute, Hengqin New Area, Zhuhai, Guangdong, 519000, China

Corresponding email(s): 

Key Words:  Point Cloud Completion, Ground Elevation Estimation, Real-time, Autonomous Vehicles


Liwen Liu, Weidong Yang, Ben Fei. GeeNet: Robust and Fast Point Cloud Completion for Ground Elevation Estimation towards Autonomous Vehicles[J]. Frontiers of Information Technology & Electronic Engineering, 1998, -1(-1): .

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Abstract: 
ground Elevation Estimation is vital for numerous applications in autonomous Vehicles and intelligent robotics including 3D object detection, navigable space detection, point cloud matching for localization and registration for mapping. However, most works regard the ground as a plane without height information, which causes inaccurate manipulation in these applications. Therefore, in this work, we propose GeeNet, a novel end-to-end, lightweight method that completes the ground in nearly real-time and simultaneously estimates the ground elevation in a grid-based representation. GeeNet leverages the mixing of 2D/3D convolutions to preserve lightweight architecture to regress ground elevation information for each cell of the grid. For the first time, GeeNet fulfills ground Elevation Estimation from semantic scene completion. We utilize the SemanticKITTI and SemanticPOSS datasets to validate the proposed GeeNet. It is demonstrated the qualitative and quantitative performance of GeeNet on ground Elevation Estimation and semantic scene completion of the point cloud. Moreover, the cross-dataset generalization capability of GeeNet is also experimentally proven. GeeNet achieves state-of-the-art performance and fulfills a run-time of 220 Hz for ground Elevation Estimation and ground completion.

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