## Method

[Anonymous Submission]

Submitted on 3 Nov. 2022 14:09 by
[Anonymous Submission]

 Running time: .004 s Environment: GPU @ 1.5 Ghz (Python)

 Method Description: The model adopts a two-passway architecture to realize ultra-fast road segmentation Parameters: Epochs=150;Optimizer=SGD Latex Bibtex:

## Evaluation in Bird's Eye View

 Benchmark MaxF AP PRE REC FPR FNR UM_ROAD 94.58 % 93.42 % 95.20 % 93.98 % 2.16 % 6.02 % UMM_ROAD 96.59 % 95.40 % 96.29 % 96.90 % 4.11 % 3.10 % UU_ROAD 93.49 % 92.19 % 93.46 % 93.52 % 2.13 % 6.48 % URBAN_ROAD 95.21 % 93.71 % 95.35 % 95.08 % 2.56 % 4.92 %
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
This table as LaTeX

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.

## 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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