1. Autonomous Driving Multi-Task Perception Algorithm Based on Receptive-Field Attention Convolution.
- Author
-
LIU Yunxiang, MA Haili, ZHU Jianlin, ZHANG Qing, and JIN Qi
- Subjects
TRAFFIC monitoring ,ALGORITHMS ,AUTONOMOUS vehicles ,FEATURE extraction ,NETWORK performance ,ATTENTION ,MARKOV random fields ,CONVOLUTION codes - Abstract
The critical components of autonomous driving perception, including drivable area segmentation, lane detection, and traffic target detection, are executed concurrently, imposing substantial computational demands on intelligent vehicles. A balance between accuracy and speed in practical applications is achieved through the utilization of multi-task perception algorithms. Difficulties inherent in multi- task perception algorithms, such as complex road conditions and obscured targets, are addressed by proposing a multi-task perception algorithm based on receptive-field attention convolution (RFAConv) through YOLOP network enhancement. Initially, certain convolutions in the backbone network are substituted with receptive- field attention convolutions, dynamically allocating convolution kernel weights based on the importance of image features within the receptive field to enhance the network' s feature extraction capability. Subsequently, the feature pyramid network is reconstructed by replacing the original cross-stage hierarchical module with an efficient cross-scale fusion module to fully retain effective information during feature fusion. Additionally, a content-aware feature recombination module is employed as an up-sampling method to mitigate information loss during feature fusion up sampling. Finally, the MPDIoU function is utilized to compute the regression loss, addressing issues related to differently sized but proportionate actual and predicted boxes, further enhancing the detection capability for traffic targets. Testing results on the BDD100K dataset demonstrate that the model, compared to other multi- task models and even single- task models, exhibits superior detection accuracy for drivable area segmentation, lane detection, and traffic target detection while concurrently maintaining real-time inference performance of the network. [ABSTRACT FROM AUTHOR]
- Published
- 2024
- Full Text
- View/download PDF