Method

Superpixels and conditional random field with global shape prior [st] [SCRFFPFHGSP]


Submitted on 16 Jun. 2015 21:36 by
Ionut Valentin Gheorghe (Coventry University)

Running time:5 s
Environment:8 cores @ 2.5 Ghz (C/C++, Matlab)

Method Description:
Superpixels are predicted by a CRF for local
smoothness to which global shape of the road is
enforced using compositional high order pattern
potentials
Parameters:
regularizer = 0.001
Latex Bibtex:
@phdthesis{Gheorghe2015,
author = {Ionut Gheorghe},
title = {Semantic Segmentation of
Terrain and
Road Terrain for Advanced Driver
Assistance Systems},
school = {Coventry University},
year = 2015,
address = {Priory St, Coventry CV1 5FB,
UK},
month = 9
}

Evaluation in Bird's Eye View


Benchmark MaxF AP PRE REC FPR FNR
UM_ROAD 83.73 % 72.89 % 82.13 % 85.39 % 8.47 % 14.61 %
UMM_ROAD 87.96 % 83.16 % 90.01 % 86.01 % 10.50 % 13.99 %
UU_ROAD 80.78 % 70.80 % 81.07 % 80.50 % 6.13 % 19.50 %
URBAN_ROAD 84.93 % 76.31 % 85.37 % 84.49 % 7.98 % 15.51 %
UM_LANE 57.22 % 39.34 % 41.78 % 90.79 % 22.28 % 9.21 %
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 94.88 % 87.95 % 82.98 % 87.91 % 78.90 % 71.95 % 60.64 % 43.68 % 38.16 %
This table as LaTeX

Road/Lane Detection

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


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