閫熷害鏈€蹇� 250fps锛佸疄鏃躲€侀珮鎬ц兘杞﹂亾绾挎�娴嬬畻娉� LaneATT

CVPR 2021 杞﹂亾绾挎�娴嬫柟鍚戣�鏂囷細 Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection 銆�

璁烘枃锛�

https://arxiv.org/pdf/2010.12035.pdf

浠ｇ閫熷爜锛�

https://github.com/lucastabelini/LaneATT

0

鍔ㄦ満

杞﹂亾绾挎�娴嬫槸鑷�姩椹鹃┒棰嗗煙闈炲父閲嶈�鐨勫瓙浠诲姟涔嬩竴銆備綔鑰呮彁鍑轰簡涓€涓�疄鏃躲€侀珮鎬ц兘鐨勮溅閬撶嚎妫€娴嬬畻娉曪紝灏嗗叾鍛藉悕涓篖aneATT銆�

璇ユ柟娉曞熀浜巃nchor瀹炵幇锛害鏈屼笖搴旂敤浜嗘敞鎰忓姏鏈哄埗锛岃交閲忕骇鐗堟湰鐨勬帹鐞嗛€熷害杈惧埌250FPS銆�

01

缃戠粶缁撴瀯 1.1 鎬讳綋娴佺▼

绠楁硶鎬讳綋娴佺▼濡備笅鍥炬墍绀猴細

灏嗚溅杈嗗墠瑙嗙浉鏈洪噰闆嗗埌鐨凴GB鍥惧儚浣滀负杈撳叆锛岃緭鍑鸿溅閬撶嚎浣嶇疆銆�

浠庝笂鍥句腑鍙�互鐪嬪嚭锛岃�绠楁硶灏哹ackbone鐨勮緭鍑€蹇虹粨鏋滆繘琛屾睜鍖栨搷浣滐紝浠ユ彁鍙栨瘡涓猘nchor鐨勭壒寰侊紱灏嗘彁鍙栧埌鐨勭壒寰佷笌娉ㄦ剰鍔涙ā鍧椾骇鐢熺殑鍏ㄥ眬鐗瑰緛杩涜�铻嶅悎锛屼互瑙ｅ喅閬�尅銆佸厜鐓х瓑鍘熷洜瀵艰嚧杞﹂亾绾挎�娴嬩笉鍒扮殑闂��锛涜瀺鍚堝悗鐨勭壒寰佷綔涓哄叏杩炴帴灞傜殑杈撳叆锛屽叏杩炴帴灞傝緭鍑鸿溅閬撶嚎鐨勭疆淇″� 害鍜岀浉鍏冲弬鏁般€�

1.2 杞﹂亾绾垮拰anchor鐨勮〃绀烘柟娉�

杞﹂亾绾跨殑琛ㄧず

娌垮浘鐗囩旱鍚戝仛绛夊垎鎿嶄綔锛屽緱鍒扮殑绛夊垎鐐硅�浣滐紝鍏朵腑銆�

瀵逛簬姣忔潯杞﹂亾绾匡紝浠ゅ浐瀹氾紝鍥犳�鍐冲畾浜嗘瘡鏉¤溅閬撶嚎鐨勫樊寮傦紱姣忎釜閮戒笌瀵瑰簲鐨勫舰鎴愯溅閬撶嚎涓婄殑涓€涓�偣銆�

鐢25变簬杞﹂亾绾夸笉浼氳疮绌挎暣寮犲浘鍍忥紝浠ゅ拰鍒嗗埆琛ㄧず鐨勫紑濮嬬储寮曞拰缁撴潫绱㈠紩锛岀敤浜庤〃绀鸿溅閬撶嚎鐨勮繛缁�湁鏁堢偣銆�

anchor鐨勮〃绀�

浣跨敤鍘熺偣鍜屾柟鍚戣〃绀篴nchor锛屽叾涓�€�

鍘熺偣鎬绘槸浣嶄簬鍥惧儚鐨勫乏銆佸彸銆佷笅涓変釜杈圭晫涓娿€�

1.3 Backbone

浣跨0f敤璇稿�ResNet鐨勯€氱敤缃戠粶浣滀负LaneATT鐨刡ackbone锛涘皢backbone鐨勮緭鍑虹壒寰佽�浣溿€�

涓哄噺灏戝悗缁�ā鍧楄�绠楅噺锛屽�鍋氬嵎绉�紝灏嗚緭鍑虹粨鏋滆�浣溿€�

1.4 feature pooling

瀵逛簬姣忎釜anchor锛岄兘瑕佷粠涓�彁鍙栫壒寰侊紝浣跨敤鍧愭ps爣绱㈠紩瑕佷粠涓�彁鍙栫殑鐗瑰緛鐐广€傚厛瀹氫箟杩欎簺鍧愭爣鐐圭殑鏂瑰悜鍧愭爣锛氾紝浣跨敤濡備笅鍏�紡姹傚畠浠��搴旂殑鍧愭爣锛�

涓婂紡涓�殑鍜岃〃绀篴nchor鐨勫師鐐瑰拰鏂瑰悜锛岃〃绀虹壒寰佸�搴斿師鍥剧殑姝ラ暱銆�

瀵逛簬姣忎釜anchor锛屼娇鐢ㄤ笂杩扮殑鍜岋紝浠庝腑鎻愬彇鍒扮壒寰侊紱鑻ヤ笂杩锛佸拌�绠楀緱鍒扮殑鏌愪釜鐐圭殑鍧愭爣鍊艰秴鍑虹殑鑼冨洿锛屽垯涓��搴斾綅缃�殑鍊间负0銆�

1.5 娉ㄦ剰鍔涙満鍒�

涓婃枃鎻愬埌鐨刦eature pooling鎿嶄綔寰楀埌鐨勪负灞€閮ㄧ壒寰併€備负浜嗚兘澶熷簲瀵归伄鎸°€佸厜鐓х瓑澶嶆潅鍦烘櫙锛岄渶瑕佸皢灞€閮ㄧ壒寰佷笌鍏ㄥ眬鐗瑰緛铻嶅悎銆�

浣滆€呬娇鐢ㄦ疄鏃敞鎰忓姏妯″潡锛岃�妯″潡鐨勮緭鍏ヤ负灞€閮ㄧ壒寰侊紝杈撳嚭涓哄叏灞€鐗瑰緛銆�

娉ㄦ剰鍔涙ā鍧椾腑鍖呭惈涓€涓�叏杩炴帴灞傦紝瀵逛簬绱㈠紩涓虹殑anchor锛岃�anchor瀵瑰簲鐨勫眬閮ㄧ壒寰佷綔涓虹殑杈撳叆锛岀殑杈撳嚭涓烘潈閲嶏細

鐢ㄤ簬铻嶅悎闄ょ�i涓猘nchor浠ュ�鐨勫叾浠朼nchor瀵瑰簲鐨躲€勫眬閮ㄧ壒寰佷粠鑰屽舰鎴愬叏灞€鐗瑰緛锛�

浠ヤ笂鍐呭�鍙�槸閽堝�绱㈠紩涓篿鐨刟nchor锛涘�浜庢墍鏈夌殑anchor锛屽彲浠ヤ娇鐢ㄧ煩闃典箻娉曞揩閫熷疄鐜般€傚亣璁綼nchor鐨勬暟閲忎负锛屼护锛岋紝浣跨敤濡備笅鐭╅樀涔樻硶璁＄畻鎵€鏈塧nchor瀵瑰簲鐨勫叏灞€鐗瑰緛锛�

涓婂紡涓�紝涓斻€�

1.侀珮6 prediction head

瀵逛簬绱㈠紩涓篿鐨刟nchor锛屽叾灞€閮ㄧ壒寰佸拰鍏ㄥ眬鐗瑰緛鍋歝oncat鎿嶄綔锛岃緭鍑虹粨鏋滆�浣溿€備綔涓�2涓�苟琛岀殑鍏ㄨ繛鎺ュ眰鐨勮緭鍏ワ紝鍏朵腑涓€涓�叏杩炴帴灞傜敤浜庡垎绫伙紝杈撳嚭淇℃伅涓猴紱鍙﹀�涓€涓�叏杩炴帴灞傜敤浜庡洖褰掞紝杈撳嚭淇℃伅涓恒€�

瀵鎬ц逛簬姣忎釜anchor锛岀綉缁滄渶缁堣緭鍑�3绫讳俊鎭�細

锛�1锛変釜姒傜巼鍊硷紝鐢ㄤ簬棰勬祴璇�nchor瀵瑰簲鐨勮溅閬撶嚎绫诲埆鍜岃儗鏅�殑姒傜巼銆傚�浜庝笉鍖呭惈杞﹂亾绾跨被鍒�爣娉ㄤ俊鎭�殑鏁版嵁闆嗭紝浠ゃ€�

锛�2锛変釜offset鍊硷紝鎸囧嚭anchor涓�釜鐐瑰拰棰勬祴鍑虹殑杞﹂亾绾夸笂兘杞鐐圭殑妯�悜鍋忕Щ銆�

锛�3锛夎溅閬撶嚎鐨勯暱搴︼紝鏄痑nchor涓�疄闄呯敤鏉ヨ〃绀鸿溅閬撶嚎鐨勭偣鐨勬暟閲忋€傛牴鎹�1.2鑺備腑鐨勪俊鎭�紝鍜屽垎鍒�〃绀虹殑寮€濮嬬储寮曞拰缁撴潫绱㈠紩锛屽叾涓�彲鐢盿nchor鍘熺偣鐨勫潗鏍囧喅瀹氾紝闀垮害鍙�敤浜庣‘瀹氱殑鍊硷細

1.7 NMS

瀹氫箟2鏉¤溅閬撶﹂亾嚎鍜岀殑璺濈�涓猴細

涓婂紡涓�紝銆�

浣跨敤涓婅堪瀹氫箟鐨勮窛绂诲�缃戠粶棰勬祴缁撴灉杩涜�NMS鎿嶄綔锛屽噺灏慺alse positive鐨勬暟閲忋€�

02

妯″瀷璁�粌 2.1 训