A review of occluded objects detection in real complex scenarios for autonomous driving

Abstract

Autonomous driving is a promising way to future safe, efficient, and low-carbon transportation. Real-time accurate target detection is an essential precondition for the generation of proper following decision and control signals. However, considering the complex practical scenarios, accurate recognition of occluded targets is a major challenge of target detection for autonomous driving with limited computational capability. To reveal the overlap and difference between various occluded object detection by sharing the same available sensors, this paper presents a review of detection methods for occluded objects in complex real-driving scenarios. Considering the rapid development of autonomous driving technologies, the research analyzed in this study is limited to the recent five years. The study of occluded object detection is divided into three parts, namely occluded vehicles, pedestrians and traffic signs. This paper provided a detailed summary of the target detection methods used in these three parts according to the differences in detection methods and ideas, which is followed by the comparison of advantages and disadvantages of different detection methods for the same object. Finally, the shortcomings and limitations of the existing detection methods are summarized, and the challenges and future development prospects in this field are discussed.

Keywords

• Autonomous driving
• Occluded objects
• Object detection
• Vehicles
• Pedestrians
• Traffic signs