A Novel Lane Line Detection Algorithm for Driverless Geographic Information Perception Using Mixed-Attention Mechanism ResNet and Row Anchor Classification

Abstract

Lane line detection is a fundamental and critical task for geographic information perception of driverless and advanced assisted driving. However, the traditional lane line detection method relies on manual adjustment of parameters, and has poor universality, a heavy workload, and poor robustness. Most deep learning-based methods make it difficult to effectively balance accuracy and efficiency. To improve the comprehensive perception ability of lane line geographic information in a natural traffic environment, a lane line detection algorithm based on a mixed-attention mechanism residual network (ResNet) and row anchor classification is proposed. A mixed-attention mechanism is added after the backbone network convolution, normalization and activation layers, respectively, so that the model can focus more on important lane line features to improve the pertinence and efficiency of feature extraction. In addition, to achieve faster detection speed and solve the problem of no vision, the method of lane line location selection and classification based on the row direction is used to detect whether there are lane lines in each candidate point according to the row anchor, reducing the high computational complexity caused by segmentation on a pixel-by-pixel basis of traditional semantic segmentation. Based on TuSimple and CurveLane datasets, multi-scene, multi-environment, multi-linear road image datasets and video sequences are integrated and self-built, and several experiments are designed and tested to verify the effectiveness of the proposed method. The test accuracy of the mixed-attention mechanism network model reached 95.96%, and the average time efficiency is nearly 180 FPS, which can achieve a high level of accuracy and real-time detection process. Therefore, the proposed method can meet the safety perception effect of lane line geographic information in natural traffic environments, and achieve an effective balance between the accuracy and efficiency of actual road application scenarios.

A Fast and Robust Lane Detection via Online Re-Parameterization and Hybrid Attention

“…In the decoding phase, given that the lane lines contained in the input images largely display continuous characteristics in the column direction in the actual detection process, and the lane lines, being slender in shape, occupy only a small area in the row direction, we use a detection method based on row anchor classification [41] to predict the position of the lane lines. Furthermore, to ensure the real-time performance of the model, we eliminated the segmentation branch during the decoding stage, thereby streamlining the model.…”