The 3D information of road infrastructures is growing in importance with the development of autonomous driving. In this context, the exact 2D position of road markings as well as height information play an important role in, e.g., lane-accurate self-localization of autonomous vehicles. In this paper, the overall task is divided into an automatic segmentation followed by a refined 3D reconstruction. For the segmentation task, we applied a wavelet-enhanced fully convolutional network on multiview high-resolution aerial imagery. Based on the resulting 2D segments in the original images, we propose a successive workflow for the 3D reconstruction of road markings based on a least-squares line-fitting in multiview imagery. The 3D reconstruction exploits the line character of road markings with the aim to optimize the best 3D line location by minimizing the distance from its back projection to the detected 2D line in all the covering images. Results showed an improved IoU of the automatic road marking segmentation by exploiting the multiview character of the aerial images and a more accurate 3D reconstruction of the road surface compared to the semiglobal matching (SGM) algorithm. Further, the approach avoids the matching problem in non-textured image parts and is not limited to lines of finite length. In this paper, the approach is presented and validated on several aerial image data sets covering different scenarios like motorways and urban regions.
Deep Learning Segmentation and 3D Reconstruction of Road Markings Using Multiview Aerial Imagery
