Semantic-MoSeg

This is the offical implementation of the TITS paper: Semantic-MoSeg: Semantics-Assisted Moving-Obstacle Segmentation in Bird-Eye-View for Autonomous Driving.

📚 Set up

Our experiment is tested on Ubuntu 20.04 with Python 3.8.

• build environment

  conda create -n moseg python=3.8
  conda activate moseg
  pip install -r requirements.txt
  

📂 Dataset

We conduct the experiments based on NuScenes dataset and Lyft dataset.

🚀 Script and Visualization

  python3 train.py

Video: https://www.youtube.com/GONw_DZgSmY

🔗 Citation

@ARTICLE{meng2025semanticmoseg,
  author={Shiyu Meng and Yuxiang Sun},
  journal={IEEE Transactions on Intelligent Transportation Systems}, 
  title={Semantic-MoSeg: Semantics-Assisted Moving-Obstacle Segmentation in Bird-Eye-View for Autonomous Driving}, 
  year={2025},
  volume={26},
  number={7},
  pages={9251-9262},
  doi={10.1109/TITS.2025.3570058}}