mlsanityData to 14 Oct 2026

How to Build a Curb Dataset with LiDAR Data for Autonomous Driving

arXiv 2110.03968 ↗First posted 8 Oct 2021cs.CVcited by 4

Not on the map. Why?

Abstract (arXiv)

Curbs are one of the essential elements of urban and highway traffic environments. Robust curb detection provides road structure information for motion planning in an autonomous driving system. Commonly, video cameras and 3D LiDARs are mounted on autonomous vehicles for curb detection. However, camera-based methods suffer from challenging illumination conditions. During the long period of time before wide application of Deep Neural Network (DNN) with point clouds, LiDAR-based curb detection methods are based on hand-crafted features, which suffer from poor detection in some complex scenes. Recently, DNN-based dynamic object detection using LiDAR data has become prevalent, while few works pay attention to curb detection with a DNN approach due to lack of labeled data. A dataset with curb annotations or an efficient curb labeling approach, hence, is of high demand...

Key facts. Cited by 4 papers in the map (data through 14 Oct 2026). Builds on 13 of its 29 references that are in the map. First posted on arXiv 8 Oct 2021.

Builds on

13 of 29 references.

References · 13

  1. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,713
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  3. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,451
  4. 2018The ApolloScape Open Dataset for Autonomous Driving and its Applicationcited by 190
  5. 2017Spatial As Deep: Spatial CNN for Traffic Scene Understandingcited by 187
  6. 2018Towards End-to-End Lane Detection: an Instance Segmentation Approachcited by 129
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  8. 2020TORNADO-Net: mulTiview tOtal vaRiatioN semAntic segmentation with Diamond inceptiOn modulecited by 36
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  10. 2020Convolutional Recurrent Network for Road Boundary Extractioncited by 33
  11. 2021MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Squarecited by 27
  12. 2019Online Inference and Detection of Curbs in Partially Occluded Scenes with Sparse LIDARcited by 4
1 more
  1. 2018Automatic Vector-based Road Structure Mapping Using Multi-beam LiDARcited by 2

Built on by

Cited by year

Citing papers per year: 2023: 3; 2024: 1.

4 papers.

  1. 2023Navya3DSeg -- Navya 3D Semantic Segmentation Dataset & split generation for autonomous vehiclescited by 9
  2. 2024CurbNet: Curb Detection Framework Based on LiDAR Point Cloud Segmentationcited by 5
  3. 2023Advancements in 3D Lane Detection Using LiDAR Point Clouds: From Data Collection to Model Developmentcited by 4
  4. 2023LiDAR-based curb detection for ground truth annotation in automated driving validationcited by 1