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Fast and Accurate Lane Detection via Graph Structure and Disentangled Representation Learning

Authors: Yulin He; Wei Chen 0009; Chen Li 0034; Xin Luo 0009; Libo Huang;

Fast and Accurate Lane Detection via Graph Structure and Disentangled Representation Learning

Abstract

It is desirable to maintain high accuracy and runtime efficiency at the same time in lane detection. However, due to the long and thin properties of lanes, extracting features with both strong discrimination and perception abilities needs a huge amount of calculation, which seriously slows down the running speed. Therefore, we design a more efficient way to extract the features of lanes, including two phases: (1) Local feature extraction, which sets a series of predefined anchor lines, and extracts the local features through their locations. (2) Global feature aggregation, which treats local features as the nodes of the graph, and builds a fully connected graph by adaptively learning the distance between nodes, the global feature can be aggregated through weighted summing finally. Another problem that limits the performance is the information loss in feature compression, mainly due to the huge dimensional gap, e.g., from 512 to 8. To handle this issue, we propose a feature compression module based on decoupling representation learning. This module can effectively learn the statistical information and spatial relationships between features. After that, redundancy is greatly reduced and more critical information is retained. Extensional experimental results show that our proposed method is both fast and accurate. On the Tusimple and CULane benchmarks, with a running speed of 248 FPS, F1 values of 96.81% and 75.49% were achieved, respectively.

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Keywords

feature compression, disentangled representation learning, lane detection, graph structure, Chemical technology, TP1-1185, Article

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
4
Top 10%
Average
Average
Green
gold