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Post processing method and apparatus for detecting lane for planning travel route of autonomous vehicle using segmentation score map and clustering map
Post processing method and apparatus for detecting lane for planning travel route of autonomous vehicle using segmentation score map and clustering map
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机译：用于使用分割得分图和聚类映射检测自动车辆行程路线的道路的处理方法和装置
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摘要
A post-processing method for detecting lanes to plan the drive path of an autonomous vehicle by using a segmentation score map and a clustering map is provided. The method includes steps of: a computing device acquiring the segmentation score map and the clustering map from a CNN; instructing a post-processing module to detect lane elements including pixels forming the lanes referring to the segmentation score map and generate seed information referring to the lane elements, the segmentation score map, and the clustering map; instructing the post-processing module to generate base models referring to the seed information and generate lane anchors referring to the base models; instructing the post-processing module to generate lane blobs referring to the lane anchors; and instructing the post-processing module to detect lane candidates referring to the lane blobs and generate a lane model by line-fitting operations on the lane candidates.
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