“…For instance, on the Massachusetts Road dataset, the AOA-QDCNNRE method gains a lower CT of 0.55s, whereas the CNN, U-Net, GL-Dense-U-Net, RDRCNN, and RDRCNN + post-process models obtain higher CT of 1.13s, 1.23s, 1.07s, 1.20s, and 0.98s respectively [ [26] , [27] , [28] ]. At the same time, in the GF-2 Road repository, the AOA-QDCNNRE method obtains a lesser CT of 0.17s, whereas the CNN, U-Net, GL-Dense-U-Net, RDRCNN, and RDRCNN + post-process approaches achieve superior CT of 0.95s, 0.88s, 1.02s, 1.08s, and 1.02s correspondingly [ [34] , [35] , [36] , [37] ].…”