Automatic lane detection is a crucial technology that enables self-driving cars to properly position themselves in a multi-lane urban driving environments. However, detecting diverse road markings in various weather conditions is a challenging task for conventional image processing or computer vision techniques. In recent years, the application of Deep Learning and Neural Networks in this area has proven to be very effective. In this project, we designed an Encoder- Decoder, Fully Convolutional Network for lane detection. This model was applied to a real-world large scale dataset and achieved a level of accuracy that outperformed our baseline model.
Fine-Grained Traffic Inference from Road to Lane via Spatio-Temporal Graph Node Generation
Fudan University（复旦大学）；Zhuhai Fudan Innovation Research Institute（珠海复旦创新研究院）；The Hong Kong University of Science and Technology（香港科学与技术大学）；Guangzhou University（广州大学）；Shanghai Jiao Tong University（上海交通大学）
Advancing Autonomous Vehicle Intelligence: Deep Learning and Multimodal LLM for Traffic Sign Recognition and Robust Lane Detection
School of Computer Science and Engineering, Beihang University（北京航空航天大学计算机科学与工程学院）；School of Vehicle and Mobility, Tsinghua University（清华大学车辆与 Mobility 学院）
Beijing Institute of Technology（北京理工大学）；MEGVII Technology（旷视科技）；University of Science and Technology of China（中国科学技术大学）；SKL-IOTSC, University of Macau（澳门大学智慧城市物联网国家重点实验室）
Topology reasoning aims to comprehensively understand road scenes and present drivable routes in autonomous driving. It requires detecting road centerlines (lane) and traffic elements, further reasoning their topology relationship, i.e., lane-lane topology, and lane-traffic topology. In this work, we first present that the topology score relies heavily on detection performance on lane and traffic elements. Therefore, we introduce a powerful 3D lane detector and an improved 2D traffic element detector to extend the upper limit of topology performance. Further, we propose TopoMLP, a simple yet h…
Lane Graph as Path: Continuity-preserving Path-wise Modeling for Online Lane Graph Construction
Institute of Artificial Intelligence, Huazhong University of Science & Technology（华中科技大学人工智能研究院）；School of EIC, Huazhong University of Science & Technology（华中科技大学电子信息与通信学院）；Horizon Robotics（地平线机器人）
NYU Tandon School of Engineering（纽约大学坦登工程学院）；New York University Abu Dhabi（纽约大学阿布扎比分校）
Lane segmentation is a challenging issue in autonomous driving system designing because lane marks show weak textural consistency due to occlusion or extreme illumination but strong geometric continuity in traffic images, from which general convolution neural networks (CNNs) are not capable of learning semantic objects. To empower conventional CNNs in learning geometric clues of lanes, we propose a deep network named ContinuityLearner to better learn geometric prior within lane. Specifically, our proposed CNN-based paradigm involves a novel Context-encoding image feature learning network to ge…
Virginia Polytechnic Institute and State University（弗吉尼亚理工学院暨州立大学）
In a previous study, we presented VT-Lane, a three-step framework for real-time vehicle detection, tracking, and turn movement classification at urban intersections. In this study, we present a case study incorporating the highly accurate trajectories and movement classification obtained via VT-Lane for the purpose of speed estimation and driver behavior calibration for traffic at urban intersections. First, we use a highly instrumented vehicle to verify the estimated speeds obtained from video inference. The results of the speed validation show that our method can estimate the average travel …
Classifying and counting vehicles in road traffic has numerous applications in the transportation engineering domain. However, the wide variety of vehicles (two-wheelers, three-wheelers, cars, buses, trucks etc.) plying on roads of developing regions without any lane discipline, makes vehicle classification and counting a hard problem to automate. In this paper, we use state of the art Convolutional Neural Network (CNN) based object detection models and train them for multiple vehicle classes using data from Delhi roads. We get upto 75% MAP on an 80-20 train-test split using 5562 video frames …
FZI Research Center for Information Technology（FZI信息技术研究中心）；Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄理工学院（KIT））
Estimating and understanding the current scene is an inevitable capability of automated vehicles. Usually, maps are used as prior for interpreting sensor measurements in order to drive safely and comfortably. Only few approaches take into account that maps might be outdated and lead to wrong assumptions on the environment. This work estimates a lane-level intersection topology without any map prior by observing the trajectories of other traffic participants. We are able to deliver both a coarse lane-level topology as well as the lane course inside and outside of the intersection using Markov c…
Semantic Map Learning of Traffic Light to Lane Assignment based on Motion Data
Mercedes-Benz Research & Development North America（梅赛德斯-奔驰北美研发中心）；Mercedes-Benz AG（梅赛德斯-奔驰股份公司）；University of Stuttgart（斯图加特大学）；University of Southampton（南安普顿大学）
