Abstract
Scene understanding plays a crucial role in autonomous driving by utilizing sensory data for contextual information extraction and decision making. Beyond modeling advances, the enabler for vehicles to become aware of their surroundings is the availability of visual sensory data, which expand the vehicular perception and realizes vehicular contextual awareness in real-world environments. Research directions for scene understanding pursued by related studies include person/vehicle detection and segmentation, their transition analysis, lane change, and turns detection, among many others Unfortunately, these tasks seem insufficient to completely develop fully-autonomous vehicles i.e. achieving level-5 autonomy, travelling just like human-controlled cars. This latter statement is among the conclusions drawn from this review paper: scene understanding for autonomous driving cars using vision sensors still requires significant improvements. With this motivation, this survey defines, analyzes, and reviews the current achievements of the scene understanding research area that mostly rely on computationally complex deep learning models. Furthermore, it covers the generic scene understanding pipeline, investigates the performance reported by the state-of-the-art, informs about the time complexity analysis of avant garde modeling choices, and highlights major triumphs and noted limitations encountered by current research efforts. The survey also includes a comprehensive discussion on the available datasets, and the challenges that, even if lately confronted by researchers, still remain open to date. Finally, our work outlines future research directions to welcome researchers and practitioners to this exciting domain.