scholarly journals A Fast and Robust Lane Detection Method Based on Semantic Segmentation and Optical Flow Estimation

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 400
Author(s):  
Sheng Lu ◽  
Zhaojie Luo ◽  
Feng Gao ◽  
Mingjie Liu ◽  
KyungHi Chang ◽  
...  
Keyword(s):  
Optical Flow ◽  
Coordinate System ◽  
Detection Method ◽  
Semantic Segmentation ◽  
Autonomous Driving ◽  
Lane Detection ◽  
Flow Estimation ◽  
Optical Flow Estimation ◽  
Key Frames ◽  
Camera Coordinate System

Lane detection is a significant technology for autonomous driving. In recent years, a number of lane detection methods have been proposed. However, the performance of fast and slim methods is not satisfactory in sophisticated scenarios and some robust methods are not fast enough. Consequently, we proposed a fast and robust lane detection method by combining a semantic segmentation network and an optical flow estimation network. Specifically, the whole research was divided into three parts: lane segmentation, lane discrimination, and mapping. In terms of lane segmentation, a robust semantic segmentation network was proposed to segment key frames and a fast and slim optical flow estimation network was used to track non-key frames. In the second part, density-based spatial clustering of applications with noise (DBSCAN) was adopted to discriminate lanes. Ultimately, we proposed a mapping method to map lane pixels from pixel coordinate system to camera coordinate system and fit lane curves in the camera coordinate system that are able to provide feedback for autonomous driving. Experimental results verified that the proposed method can speed up robust semantic segmentation network by three times at most and the accuracy fell 2% at most. In the best of circumstances, the result of the lane curve verified that the feedback error was 3%.

scholarly journals Every Frame Counts: Joint Learning of Video Segmentation and Optical Flow

2020 ◽  
Vol 34 (07) ◽  
pp. 10713-10720
Author(s):  
Mingyu Ding ◽  
Zhe Wang ◽  
Bolei Zhou ◽  
Jianping Shi ◽  
Zhiwu Lu ◽  
...  
Keyword(s):  
Optical Flow ◽  
Video Segmentation ◽  
Video Clip ◽  
Semantic Segmentation ◽  
Temporal Consistency ◽  
Flow Estimation ◽  
Optical Flow Estimation ◽  
Optical Flows ◽  
Benchmark Datasets ◽  
Spatio Temporal

A major challenge for video semantic segmentation is the lack of labeled data. In most benchmark datasets, only one frame of a video clip is annotated, which makes most supervised methods fail to utilize information from the rest of the frames. To exploit the spatio-temporal information in videos, many previous works use pre-computed optical flows, which encode the temporal consistency to improve the video segmentation. However, the video segmentation and optical flow estimation are still considered as two separate tasks. In this paper, we propose a novel framework for joint video semantic segmentation and optical flow estimation. Semantic segmentation brings semantic information to handle occlusion for more robust optical flow estimation, while the non-occluded optical flow provides accurate pixel-level temporal correspondences to guarantee the temporal consistency of the segmentation. Moreover, our framework is able to utilize both labeled and unlabeled frames in the video through joint training, while no additional calculation is required in inference. Extensive experiments show that the proposed model makes the video semantic segmentation and optical flow estimation benefit from each other and outperforms existing methods under the same settings in both tasks.

scholarly journals Implicit and Explicit Regularization for Optical Flow Estimation

Sensors ◽  
2020 ◽  
Vol 20 (14) ◽  
pp. 3855
Author(s):  
Konstantinos Karageorgos ◽  
Anastasios Dimou ◽  
Federico Alvarez ◽  
Petros Daras
Keyword(s):  
Neural Network ◽  
Optical Flow ◽  
Regularization Method ◽  
Network Architecture ◽  
Contextual Information ◽  
Semantic Segmentation ◽  
Convergence Time ◽  
Local Motion ◽  
Flow Estimation ◽  
Optical Flow Estimation

In this paper, two novel and practical regularizing methods are proposed to improve existing neural network architectures for monocular optical flow estimation. The proposed methods aim to alleviate deficiencies of current methods, such as flow leakage across objects and motion consistency within rigid objects, by exploiting contextual information. More specifically, the first regularization method utilizes semantic information during the training process to explicitly regularize the produced optical flow field. The novelty of this method lies in the use of semantic segmentation masks to teach the network to implicitly identify the semantic edges of an object and better reason on the local motion flow. A novel loss function is introduced that takes into account the objects’ boundaries as derived from the semantic segmentation mask to selectively penalize motion inconsistency within an object. The method is architecture agnostic and can be integrated into any neural network without modifying or adding complexity at inference. The second regularization method adds spatial awareness to the input data of the network in order to improve training stability and efficiency. The coordinates of each pixel are used as an additional feature, breaking the invariance properties of the neural network architecture. The additional features are shown to implicitly regularize the optical flow estimation enforcing a consistent flow, while improving both the performance and the convergence time. Finally, the combination of both regularization methods further improves the performance of existing cutting edge architectures in a complementary way, both quantitatively and qualitatively, on popular flow estimation benchmark datasets.

scholarly journals Learned optical flow for intra-operative tracking of the retinal fundus

2020 ◽  
Vol 15 (5) ◽  
pp. 827-836
Author(s):  
Claudio S. Ravasio ◽  
Theodoros Pissas ◽  
Edward Bloch ◽  
Blanca Flores ◽  
Sepehr Jalali ◽  
...  
Keyword(s):  
Optical Flow ◽  
Ground Truth ◽  
Semantic Segmentation ◽  
Robotic Systems ◽  
Sustained Delivery ◽  
Flow Estimation ◽  
Optical Flow Estimation ◽  
Points Of Interest ◽  
Flow Information ◽  
Retinal Fundus

Abstract Purpose Sustained delivery of regenerative retinal therapies by robotic systems requires intra-operative tracking of the retinal fundus. We propose a supervised deep convolutional neural network to densely predict semantic segmentation and optical flow of the retina as mutually supportive tasks, implicitly inpainting retinal flow information missing due to occlusion by surgical tools. Methods As manual annotation of optical flow is infeasible, we propose a flexible algorithm for generation of large synthetic training datasets on the basis of given intra-operative retinal images. We evaluate optical flow estimation by tracking a grid and sparsely annotated ground truth points on a benchmark of challenging real intra-operative clips obtained from an extensive internally acquired dataset encompassing representative vitreoretinal surgical cases. Results The U-Net-based network trained on the synthetic dataset is shown to generalise well to the benchmark of real surgical videos. When used to track retinal points of interest, our flow estimation outperforms variational baseline methods on clips containing tool motions which occlude the points of interest, as is routinely observed in intra-operatively recorded surgery videos. Conclusions The results indicate that complex synthetic training datasets can be used to specifically guide optical flow estimation. Our proposed algorithm therefore lays the foundation for a robust system which can assist with intra-operative tracking of moving surgical targets even when occluded.

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