High-Level Interpretation of Urban Road Maps Fusing Deep Learning-Based Pixelwise Scene Segmentation and Digital Navigation Maps

Figure 11

Example of a very complex intersection where the map-based model is not well fitted to the road limits. However, it provides richer high-level information to be used in autonomous navigation systems.

(a) Input image

(b) CNN classifier with data augmentation

(c) Map model

(d) Open street map diagram with aerial imagery layer