# UdeerLID+: Integrating LiDAR, Image, and Relative Depth with Semi-Supervised

arXiv: https://arxiv.org/abs/2409.06197 · HTML: https://mlsanity.com/paper/2409.06197/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 7 of its 7 references that are in the map.
- First posted on arXiv 10 Sep 2024.

## Builds on (most cited first, 7 of 7)

- [Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation](https://mlsanity.com/paper/1802.02611/) (2018)
- [TransUNet: Transformers Make Strong Encoders for Medical Image Segmentation](https://mlsanity.com/paper/2102.04306/) (2021)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [InternImage: Exploring Large-Scale Vision Foundation Models with Deformable Convolutions](https://mlsanity.com/paper/2211.05778/) (2022)
- [Meta Pseudo Labels](https://mlsanity.com/paper/2003.10580/) (2020)
- [BiSeNet V2: Bilateral Network with Guided Aggregation for Real-time Semantic Segmentation](https://mlsanity.com/paper/2004.02147/) (2020)
- [Progressive LiDAR Adaptation for Road Detection](https://mlsanity.com/paper/1904.01206/) (2019)

## Abstract (arXiv)

Road segmentation is a critical task for autonomous driving systems, requiring accurate and robust methods to classify road surfaces from various environmental data. Our work introduces an innovative approach that integrates LiDAR point cloud data, visual image, and relative depth maps derived from images. The integration of multiple data sources in road segmentation presents both opportunities and challenges. One of the primary challenges is the scarcity of large-scale, accurately labeled datasets that are necessary for training robust deep learning models. To address this, we have developed the [UdeerLID+] framework under a semi-supervised learning paradigm. Experiments results on KITTI datasets validate the superior performance.