Method

ResNet Pyramid Pooling [RPP]
[Anonymous Submission]

Submitted on 24 Dec. 2016 08:16 by
[Anonymous Submission]

Running time:0.16 s
Environment:GPU (C/C++)

Method Description:
Using the ResNet101 based network to detect the
road.
Parameters:
resnet 101
4 layer pooling
Latex Bibtex:

Evaluation in Bird's Eye View


Benchmark MaxF AP PRE REC FPR FNR
UM_ROAD 96.04 % 89.77 % 95.61 % 96.48 % 2.02 % 3.52 %
UMM_ROAD 97.03 % 92.36 % 96.36 % 97.70 % 4.06 % 2.30 %
UU_ROAD 95.47 % 88.74 % 95.16 % 95.77 % 1.59 % 4.23 %
URBAN_ROAD 96.36 % 90.36 % 95.85 % 96.87 % 2.31 % 3.13 %
UM_LANE 75.85 % 79.27 % 71.49 % 80.77 % 5.67 % 19.23 %
This table as LaTeX

Behavior Evaluation


Benchmark PRE-20 F1-20 HR-20 PRE-30 F1-30 HR-30 PRE-40 F1-40 HR-40
UM_LANE 95.83 % 92.92 % 89.16 % 94.41 % 89.44 % 83.62 % 84.04 % 66.67 % 50.00 %
This table as LaTeX

Road/Lane Detection

The following plots show precision/recall curves for the bird's eye view evaluation.



This figure as: png eps pdf

Distance-dependent Behavior Evaluation

The following plots show the F1 score/Precision/Hitrate with respect to the longitudinal distance which has been used for evaluation.



This figure as: png eps pdf

This figure as: png eps pdf

This figure as: png eps pdf

Visualization of Results

The following images illustrate the performance of the method qualitatively on a couple of test images. We first show results in the perspective image, followed by evaluation in bird's eye view. Here, red denotes false negatives, blue areas correspond to false positives and green represents true positives.



This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png

This figure as: png


eXTReMe Tracker