  This paper addresses the problem of holistic road scene understanding based
on the integration of visual and range data. To achieve the grand goal, we
propose an approach that jointly tackles object-level image segmentation and
semantic region labeling within a conditional random field (CRF) framework.
Specifically, we first generate semantic object hypotheses by clustering 3D
points, learning their prior appearance models, and using a deep learning
method for reasoning their semantic categories. The learned priors, together
with spatial and geometric contexts, are incorporated in CRF. With this
formulation, visual and range data are fused thoroughly, and moreover, the
coupled segmentation and semantic labeling problem can be inferred via Graph
Cuts. Our approach is validated on the challenging KITTI dataset that contains
diverse complicated road scenarios. Both quantitative and qualitative
evaluations demonstrate its effectiveness.
