DeepAI AI Chat
Log In Sign Up

LDNet: End-to-End Lane Detection Approach usinga Dynamic Vision Sensor

by   Farzeen Munir, et al.

Modern vehicles are equipped with various driver-assistance systems, including automatic lane keeping, which prevents unintended lane departures. Traditional lane detection methods incorporate handcrafted or deep learning-based features followed by postprocessing techniques for lane extraction using RGB cameras. The utilization of a RGB camera for lane detection tasks is prone to illumination variations, sun glare, and motion blur, which limits the performance of the lane detection method. The incorporation of an event camera for lane detection tasks in the perception stack of autonomous driving is one of the most promising solutions for mitigating challenges encountered by RGB cameras. In this work, Lane Detection using dynamic vision sensor (LDNet), is proposed, that is designed in an encoder-decoder manner with an atrous spatial pyramid pooling block followed by an attention-guided decoder for predicting and reducing false predictions in lane detection tasks. This decoder eliminates the implicit need for a postprocessing step. The experimental results show the significant improvement of 5.54% and 5.03% on the F1 scores in the multiclass and binary class lane detection tasks, respectively. Additionally, the IoU scores of the proposed method surpass those of the best-performing state-of-the-art method by 6.50% and 9.37% in the multiclass and binary class tasks, respectively.


page 1

page 2

page 3

page 6

page 8

page 10


Structure-Aware Network for Lane Marker Extraction with Dynamic Vision Sensor

Lane marker extraction is a basic yet necessary task for autonomous driv...

Preprocessing Methods of Lane Detection and Tracking for Autonomous Driving

In the past few years, researches on advanced driver assistance systems ...

Row-wise LiDAR Lane Detection Network with Lane Correlation Refinement

Lane detection is one of the most important functions for autonomous dri...

On Robustness of Lane Detection Models to Physical-World Adversarial Attacks in Autonomous Driving

After the 2017 TuSimple Lane Detection Challenge, its evaluation based o...

Real-time Lane Marker Detection Using Template Matching with RGB-D Camera

This paper addresses the problem of lane detection which is fundamental ...

Semi-Local 3D Lane Detection and Uncertainty Estimation

We propose a novel camera-based DNN method for 3D lane detection with un...

Dynamic Approach for Lane Detection using Google Street View and CNN

Lane detection algorithms have been the key enablers for a fully-assisti...