End-to-end Lane Detection through Differentiable Least-Squares Fitting
Autor: | Marc Proesmans, Davy Neven, Luc Van Gool, Bert De Brabandere, Wouter Van Gansbeke |
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Jazyk: | angličtina |
Rok vydání: | 2019 |
Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology business.industry Computer science Computer Vision and Pattern Recognition (cs.CV) Feature extraction Computer Science - Computer Vision and Pattern Recognition 02 engineering and technology Curvature 020901 industrial engineering & automation Outlier 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Artificial intelligence Differentiable function business Algorithm |
Zdroj: | ICCV Workshops |
Popis: | Lane detection is typically tackled with a two-step pipeline in which a segmentation mask of the lane markings is predicted first, and a lane line model (like a parabola or spline) is fitted to the post-processed mask next. The problem with such a two-step approach is that the parameters of the network are not optimized for the true task of interest (estimating the lane curvature parameters) but for a proxy task (segmenting the lane markings), resulting in sub-optimal performance. In this work, we propose a method to train a lane detector in an end-to-end manner, directly regressing the lane parameters. The architecture consists of two components: a deep network that predicts a segmentation-like weight map for each lane line, and a differentiable least-squares fitting module that returns for each map the parameters of the best-fitting curve in the weighted least-squares sense. These parameters can subsequently be supervised with a loss function of choice. Our method relies on the observation that it is possible to backpropagate through a least-squares fitting procedure. This leads to an end-to-end method where the features are optimized for the true task of interest: the network implicitly learns to generate features that prevent instabilities during the model fitting step, as opposed to two-step pipelines that need to handle outliers with heuristics. Additionally, the system is not just a black box but offers a degree of interpretability because the intermediately generated segmentation-like weight maps can be inspected and visualized. Code and a video is available at github.com/wvangansbeke/LaneDetection_End2End. Accepted at ICCVW 2019 (CVRSUAD-Road Scene Understanding and Autonomous Driving) |
Databáze: | OpenAIRE |
Externí odkaz: |
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