Method

Linkwise [LKW]


Submitted on 4 Sep. 2017 10:49 by
ming zhang (HRI)

Running time:0.1 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
FPN+Segnet simple
Parameters:
hahaha
base lr =0.001
Latex Bibtex:

Evaluation in Bird's Eye View


Benchmark MaxF AP PRE REC FPR FNR
UM_ROAD 82.01 % 85.26 % 78.83 % 85.46 % 10.46 % 14.54 %
UMM_ROAD 75.48 % 78.73 % 65.97 % 88.18 % 50.00 % 11.82 %
UU_ROAD 69.65 % 74.02 % 65.45 % 74.42 % 12.80 % 25.58 %
URBAN_ROAD 75.53 % 79.80 % 69.68 % 82.44 % 19.75 % 17.56 %
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 %
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Road/Lane Detection

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



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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.



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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.



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