For the domain of self-driving and automatic parking, perception is a basic and critical technique, moreover, the detection of lane markings and parking slots is an important part of visual perception. Compared with front sight images, panoramic images(PI) can capture more comprehensive pavement information. However, the imbalance of different classes in PI is even more serious. Additionally, the judgment of boundary information between areas is a hard problem in deep models. Therefore, we propose a new model named DFNet to solve these problems. The proposed model has two main contributions, one is dynamic loss weights, and the other is residual fusion block(RFB). DFNet use dynamic loss weights to overcome the negative effect of imbalance dataset, which are calculated according to the pixel number of each class in a batch. RFB is composed of several convolutional layers, a pooling layer, and a fusion layer to combine the feature maps by pixel multiplication, which can reduce boundary information loss. We evaluate our method on PSV dataset, and the achieved advanced results demonstrate the effectiveness of the proposed model.
Deep learning has achieved far more accurate results than traditional methods on image processing. There are several works on lane makings and parking slots detection using deep learning on front sight images. J Kim and M Lee @cite_2 presented a robust lane detection method based on the combined convolutional neural network with random sample consensus algorithm; S @cite_25 proposed a unified end-to-end trainable multi-task network that jointly handles lane and road marking detection and recognition guided by a vanishing point; G @cite_7 proposed a decentralized and efficient solution for visual parking slots occupancy detection based on a deep convolutional neural network.
@cite_25 @cite_7 @cite_2
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In this paper, we propose a unified end-to-end trainable multi-task network that jointly handles lane and road marking detection and recognition that is guided by a vanishing point under adverse weather conditions. We tackle rainy and low illumination conditions, which have not been extensively studied until now due to clear challenges. For example, images taken under rainy days are subject to low illumination, while wet roads cause light reflection and distort the appearance of lane and road markings. At night, color distortion occurs under limited illumination. As a result, no benchmark dataset exists and only a few developed algorithms work under poor weather conditions. To address this shortcoming, we build up a lane and road marking benchmark which consists of about 20,000 images with 17 lane and road marking classes under four different scenarios: no rain, rain, heavy rain, and night. We train and evaluate several versions of the proposed multi-task network and validate the importance of each task. The resulting approach, VPGNet, can detect and classify lanes and road markings, and predict a vanishing point with a single forward pass. Experimental results show that our approach achieves high accuracy and robustness under various conditions in realtime (20 fps). The benchmark and the VPGNet model will be publicly available In this paper, we propose a unified end-to-end trainable multi-task network that jointly handles lane and road marking detection and recognition that is guided by a vanishing point under adverse weather conditions. We tackle rainy and low illumination conditions, which have not been extensively studied until now due to clear challenges. For example, images taken under rainy days are subject to low illumination, while wet roads cause light reflection and distort the appearance of lane and road markings. At night, color distortion occurs under limited illumination. As a result, no benchmark dataset exists and only a few developed algorithms work under poor weather conditions. To address this shortcoming, we build up a lane and road marking benchmark which consists of about 20,000 images with 17 lane and road marking classes under four different scenarios: no rain, rain, heavy rain, and night. We train and evaluate several versions of the proposed multi-task network and validate the importance of each task. The resulting approach, VPGNet, can detect and classify lanes and road markings, and predict a vanishing point with a single forward pass. Experimental results show that our approach achieves high accuracy and robustness under various conditions in real-time (20 fps). The benchmark and the VPGNet model will be publicly available. The automatic parking is being massively developed by car manufacturers and providers. Until now, there are two problems with the automatic parking. First, there is no openly-available segmentation labels of parking slot on panoramic surround view (PSV) dataset. Second, how to detect parking slot and road structure robustly. Therefore, in this paper, we build up a public PSV dataset. At the same time, we proposed a highly fused convolutional network (HFCN) based segmentation method for parking slot and lane markings based on the PSV dataset. A surround-view image is made of four calibrated images captured from four fisheye cameras. We collect and label more than 4,200 surround view images for this task, which contain various illuminated scenes of different types of parking slots. A VH-HFCN network is proposed, which adopts an HFCN as the base, with an extra efficient VH-stage for better segmenting various markings. The VH-stage consists of two independent linear convolution paths with vertical and horizontal convolution kernels respectively. This modification enables the network to robustly and precisely extract linear features. We evaluated our model on the PSV dataset and the results showed outstanding performance in ground markings segmentation. Based on the segmented markings, parking slots and lanes are acquired by skeletonization, hough line transform and line arrangement. In this paper, we introduce a robust lane detection method based on the combined convolutional neural network (CNN) with random sample consensus (RANSAC) algorithm. At first, we calculate edges in an image using a hat shape kernel and then detect lanes using the CNN combined with the RANSAC. If the road scene is simple, we can easily detect the lane by using the RANSAC algorithm only. But if the road scene is complex and includes roadside trees, fence, or intersection etc., then it is hard to detect lanes robustly because of noisy edges. To alleviate that problem, we use CNN in the lane detection before and after applying the RANSAC algorithm. In training process of CNN, input data consist of edge images in a region of interest (ROI) and target data become the images that have only drawn real white color lane in black background. The CNN structure consists of 8 layers with 3 convolutional layers, 2 subsampling layers and multi-layer perceptron (MLP) including 3 fully-connected layers. Convolutional and subsampling layers are hierarchically arranged and their arrangement represents a deep structure in deep learning. As a result, proposed lane detection algorithm successfully eliminates noise lines and the performance is found to be better than other formal line detection algorithms such as RANSAC and hough transform. We trained a convolutional neural network (CNN) to map raw pixels from a single front-facing camera directly to steering commands. This end-to-end approach proved surprisingly powerful. With minimum training data from humans the system learns to drive in traffic on local roads with or without lane markings and on highways. It also operates in areas with unclear visual guidance such as in parking lots and on unpaved roads. The system automatically learns internal representations of the necessary processing steps such as detecting useful road features with only the human steering angle as the training signal. We never explicitly trained it to detect, for example, the outline of roads. Compared to explicit decomposition of the problem, such as lane marking detection, path planning, and control, our end-to-end system optimizes all processing steps simultaneously. We argue that this will eventually lead to better performance and smaller systems. Better performance will result because the internal components self-optimize to maximize overall system performance, instead of optimizing human-selected intermediate criteria, e.g., lane detection. Such criteria understandably are selected for ease of human interpretation which doesn't automatically guarantee maximum system performance. Smaller networks are possible because the system learns to solve the problem with the minimal number of processing steps. We used an NVIDIA DevBox and Torch 7 for training and an NVIDIA DRIVE(TM) PX self-driving car computer also running Torch 7 for determining where to drive. The system operates at 30 frames per second (FPS). Modern cars are incorporating an increasing number of driver assist features, among which automatic lane keeping. The latter allows the car to properly position itself within the road lanes, which is also crucial for any subsequent lane departure or trajectory planning decision in fully autonomous cars. Traditional lane detection methods rely on a combination of highly-specialized, hand-crafted features and heuristics, usually followed by post-processing techniques, that are computationally expensive and prone to scalability due to road scene variations. More recent approaches leverage deep learning models, trained for pixel-wise lane segmentation, even when no markings are present in the image due to their big receptive field. Despite their advantages, these methods are limited to detecting a pre-defined, fixed number of lanes, e.g. ego-lanes, and can not cope with lane changes. In this paper, we go beyond the aforementioned limitations and propose to cast the lane detection problem as an instance segmentation problem - in which each lane forms its own instance - that can be trained end-to-end. To parametrize the segmented lane instances before fitting the lane, we further propose to apply a learned perspective transformation, conditioned on the image, in contrast to a fixed ”bird’s-eye view” transformation. By doing so, we ensure a lane fitting which is robust against road plane changes, unlike existing approaches that rely on a fixed, predefined transformation. In summary, we propose a fast lane detection algorithm, running at 50 fps, which can handle a variable number of lanes and cope with lane changes. We verify our method on the tuSimple dataset and achieve competitive results. Modern cars are incorporating an increasing number of driver assist features, among which automatic lane keeping. The latter allows the car to properly position itself within the road lanes, which is also crucial for any subsequent lane departure or trajectory planning decision in fully autonomous cars. Traditional lane detection methods rely on a combination of highly-specialized, hand-crafted features and heuristics, usually followed by post-processing techniques, that are computationally expensive and prone to scalability due to road scene variations. More recent approaches leverage deep learning models, trained for pixel-wise lane segmentation, even when no markings are present in the image due to their big receptive field. Despite their advantages, these methods are limited to detecting a pre-defined, fixed number of lanes, e.g. ego-lanes, and can not cope with lane changes. In this paper, we go beyond the aforementioned limitations and propose to cast the lane detection problem as an instance segmentation problem - in which each lane forms its own instance - that can be trained end-to-end. To parametrize the segmented lane instances before fitting the lane, we further propose to apply a learned perspective transformation, conditioned on the image, in contrast to a fixed "bird's-eye view" transformation. By doing so, we ensure a lane fitting which is robust against road plane changes, unlike existing approaches that rely on a fixed, pre-defined transformation. In summary, we propose a fast lane detection algorithm, running at 50 fps, which can handle a variable number of lanes and cope with lane changes. We verify our method on the tuSimple dataset and achieve competitive results. Lane keeping is an important feature for self-driving cars. This paper presents an end-to-end learning approach to obtain the proper steering angle to maintain the car in the lane. The convolutional neural network (CNN) model takes raw image frames as input and outputs the steering angles accordingly. The model is trained and evaluated using the comma.ai dataset, which contains the front view image frames and the steering angle data captured when driving on the road. Unlike the traditional approach that manually decomposes the autonomous driving problem into technical components such as lane detection, path planning and steering control, the end-to-end model can directly steer the vehicle from the front view camera data after training. It learns how to keep in lane from human driving data. Further discussion of this end-to-end approach and its limitation are also provided. In this paper, we propose a robust vanishing-point constrained lane detection method with a stereo-rig. This method can achieve promising detection performance for both straight and curved lanes without assuming any parametric lane model. First, we propose an accurate and efficient road vanishing point detection scheme based on the v-disparity and visual odometry techniques, where the v-disparity map can significantly reduce the searching space for vanishing point, and the visual odometry can benefit the vanishing point detection of both straight and curved roads. Next, we formulate the lane detection problem as a graph-search procedure, where a vanishing-point constrained Dijkstra shortest-path lane model is proposed to obtain a minimum-cost map. The two lane borders can be detected by finding two optimal paths which originate from the vanishing point to two cost-map derived terminal points, respectively. The proposed method has been tested on the KITTI and the Oxford RobotCar data sets and it works accurately and robustly on a variety of road scenes. A lane-detection system is an important component of many intelligent transportation systems. We present a robust lane-detection-and-tracking algorithm to deal with challenging scenarios such as a lane curvature, worn lane markings, lane changes, and emerging, ending, merging, and splitting lanes. We first present a comparative study to find a good real-time lane-marking classifier. Once detection is done, the lane markings are grouped into lane-boundary hypotheses. We group left and right lane boundaries separately to effectively handle merging and splitting lanes. A fast and robust algorithm, based on random-sample consensus and particle filtering, is proposed to generate a large number of hypotheses in real time. The generated hypotheses are evaluated and grouped based on a probabilistic framework. The suggested framework effectively combines a likelihood-based object-recognition algorithm with a Markov-style process (tracking) and can also be applied to general-part-based object-tracking problems. An experimental result on local streets and highways shows that the suggested algorithm is very reliable. We propose an image based end-to-end learning framework that helps lane-change decisions for human drivers and autonomous vehicles. The proposed system, Safe Lane-Change Aid Network (SLCAN), trains a deep convolutional neural network to classify the status of adjacent lanes from rear view images acquired by cameras mounted on both sides of the vehicle. Rather than depending on any explicit object detection or tracking scheme, SLCAN reads the whole input image and directly decides whether initiation of the lane-change at the moment is safe or not. We collected and annotated 77,273 rear side view images to train and test SLCAN. Experimental results show that the proposed framework achieves 96.98 classification accuracy although the test images are from unseen roadways. We also visualize the saliency map to understand which part of image SLCAN looks at for correct decisions. Deep neural networks are frequently used for computer vision, speech recognition and text processing. The reason is their ability to regress highly nonlinear functions. We present an end-to-end controller for steering autonomous vehicles based on a convolutional neural network (CNN). The deployed framework does not require explicit hand-engineered algorithms for lane detection, object detection or path planning. The trained neural net directly maps pixel data from a front-facing camera to steering commands and does not require any other sensors. We compare the controller performance with the steering behavior of a human driver. We propose an effective CNN architecture for visual parking occupancy detection.The CNN architecture is small enough to run on smart cameras.The proposed solution performs and generalizes better than other SotA approaches.We provide a new training validation dataset for parking occupancy detection. A smart camera is a vision system capable of extracting application-specific information from the captured images. The paper proposes a decentralized and efficient solution for visual parking lot occupancy detection based on a deep Convolutional Neural Network (CNN) specifically designed for smart cameras. This solution is compared with state-of-the-art approaches using two visual datasets: PKLot, already existing in literature, and CNRPark-EXT. The former is an existing dataset, that allowed us to exhaustively compare with previous works. The latter dataset has been created in the context of this research, accumulating data across various seasons of the year, to test our approach in particularly challenging situations, exhibiting occlusions, and diverse and difficult viewpoints. This dataset is public available to the scientific community and is another contribution of our research. Our experiments show that our solution outperforms and generalizes the best performing approaches on both datasets. The performance of our proposed CNN architecture on the parking lot occupancy detection task, is comparable to the well-known AlexNet, which is three orders of magnitude larger. Convolutional neural networks (CNNs) are usually built by stacking convolutional operations layer-by-layer. Although CNN has shown strong capability to extract semantics from raw pixels, its capacity to capture spatial relationships of pixels across rows and columns of an image is not fully explored. These relationships are important to learn semantic objects with strong shape priors but weak appearance coherences, such as traffic lanes, which are often occluded or not even painted on the road surface as shown in Fig. 1 (a). In this paper, we propose Spatial CNN (SCNN), which generalizes traditional deep layer-by-layer convolutions to slice-byslice convolutions within feature maps, thus enabling message passings between pixels across rows and columns in a layer. Such SCNN is particular suitable for long continuous shape structure or large objects, with strong spatial relationship but less appearance clues, such as traffic lanes, poles, and wall. We apply SCNN on a newly released very challenging traffic lane detection dataset and Cityscapse dataset. The results show that SCNN could learn the spatial relationship for structure output and significantly improves the performance. We show that SCNN outperforms the recurrent neural network (RNN) based ReNet and MRF+CNN (MRFNet) in the lane detection dataset by 8.7 and 4.6 respectively. Moreover, our SCNN won the 1st place on the TuSimple Benchmark Lane Detection Challenge, with an accuracy of 96.53 . The detection of multiple curved lane markings is still a challenge for advanced driver assistance systems today, due to interference such as road markings and shadows cast by roadside structures and vehicles. The vanishing point @math contains the global information of the road image. Hence, @math -based lane detection algorithms are quite insensitive to interference. When curved lanes are assumed, @math shifts with respect to the rows of the image. In this paper, a @math for each individual row of the image is estimated by first extracting a @math (vertical position of the @math ) for each individual row of the image from the v-disparity. Then, based on the estimated @math 's, a 2-D @math (horizontal position of the @math ) accumulator is efficiently formed. Thus, by globally optimizing this 2-D @math accumulator, globally optimum @math s for the road image are extracted. Then, estimated @math s are utilized for multiple curved lane marking detection on nonflat road surfaces. The resultant system achieves a detection rate of 99 in 1862 frames of six stereo vision test sequences. In this work, a new inverse perspective mapping (IPM) technique is proposed based on a robust estimation of the vanishing point, which provide bird-view images of the road, so that facilitating the tasks of road modeling and vehicle detection and tracking. This new approach has been design to cope with the instability that cameras mounted on a moving vehicle suffer. The estimation of the vanishing point relies on a novel and efficient feature extraction strategy, which segmentates the lane markings of the images by combining a histogram-based segmentation with temporal and frequency filtering. Then, the vanishing point of each image is stabilized by means of a temporal filtering along the estimates of previous images. In a last step, the IPM image is computed based on the stabilized vanishing point. Tests have been carried out on several long video sequences captured from cameras inside a vehicle being driven along highways and local roads, with different illumination and weather conditions, presence of shadows, occluding vehicles, and slope changes. Results have shown a significant improvement in terms of lane width constancy and parallelism between lane markings over non-stabilized IPM algorithms. Driver-assistance systems that monitor driver intent, warn drivers of lane departures, or assist in vehicle guidance are all being actively considered. It is therefore important to take a critical look at key aspects of these systems, one of which is lane-position tracking. It is for these driver-assistance objectives that motivate the development of the novel "video-based lane estimation and tracking" (VioLET) system. The system is designed using steerable filters for robust and accurate lane-marking detection. Steerable filters provide an efficient method for detecting circular-reflector markings, solid-line markings, and segmented-line markings under varying lighting and road conditions. They help in providing robustness to complex shadowing, lighting changes from overpasses and tunnels, and road-surface variations. They are efficient for lane-marking extraction because by computing only three separable convolutions, we can extract a wide variety of lane markings. Curvature detection is made more robust by incorporating both visual cues (lane markings and lane texture) and vehicle-state information. The experiment design and evaluation of the VioLET system is shown using multiple quantitative metrics over a wide variety of test conditions on a large test path using a unique instrumented vehicle. A justification for the choice of metrics based on a previous study with human-factors applications as well as extensive ground-truth testing from different times of day, road conditions, weather, and driving scenarios is also presented. In order to design the VioLET system, an up-to-date and comprehensive analysis of the current state of the art in lane-detection research was first performed. In doing so, a comparison of a wide variety of methods, pointing out the similarities and differences between methods as well as when and where various methods are most useful, is presented Detection and classification of road markings are a prerequisite for operating autonomous vehicles. Although most studies have focused on the detection of road lane markings, the detection and classification of other road markings, such as arrows and bike markings, have not received much attention. Therefore, we propose a detection and classification method for various types of arrow markings and bike markings on the road in various complex environments using a one-stage deep convolutional neural network (CNN), called RetinaNet. We tested the proposed method in complex road scenarios with three open datasets captured by visible light camera sensors, namely the Malaga urban dataset, the Cambridge dataset, and the Daimler dataset on both a desktop computer and an NVIDIA Jetson TX2 embedded system. Experimental results obtained using the three open databases showed that the proposed RetinaNet-based method outperformed other methods for detection and classification of road markings in terms of both accuracy and processing time. Numerous groups have applied a variety of deep learning techniques to computer vision problems in highway perception scenarios. In this paper, we presented a number of empirical evaluations of recent deep learning advances. Computer vision, combined with deep learning, has the potential to bring about a relatively inexpensive, robust solution to autonomous driving. To prepare deep learning for industry uptake and practical applications, neural networks will require large data sets that represent all possible driving environments and scenarios. We collect a large data set of highway data and apply deep learning and computer vision algorithms to problems such as car and lane detection. We show how existing convolutional neural networks (CNNs) can be used to perform lane and vehicle detection while running at frame rates required for a real-time system. Our results lend credence to the hypothesis that deep learning holds promise for autonomous driving. Camera-based lane detection algorithms are one of the key enablers for many semi-autonomous and fullyautonomous systems, ranging from lane keep assist to level-5 automated vehicles. Positioning a vehicle between lane boundaries is the core navigational aspect of a self-driving car. Even though this should be trivial, given the clarity of lane markings on most standard roadway systems, the process is typically mired with tedious pre-processing and computational effort. We present an approach to estimate lane positions directly using a deep neural network that operates on images from laterally-mounted down-facing cameras. To create a diverse training set, we present a method to generate semi-artificial images. Besides the ability to distinguish whether there is a lane-marker present or not, the network is able to estimate the position of a lane marker with sub-centimeter accuracy at an average of 100 frames s on an embedded automotive platform, requiring no pre-or post-processing. This system can be used not only to estimate lane position for navigation, but also provide an efficient way to validate the robustness of driver-assist features which depend on lane information.