Method

RGB36-Cotrain [at] [RGB36-Cotrain]


Submitted on 12 Nov. 2019 12:17 by
Luca Caltagirone (Chalmers University of Technology)

Running time:0.1 s
Environment:1 core @ 2.5 Ghz (C/C++)

Method Description:
TBA
Parameters:
TBA
Latex Bibtex:
@article{CaltagironeEtAl2019,
title={Lidar-Camera Co-Training for Semi-
Supervised Road Detection},
author={Caltagirone, Luca and Lennart, Svensson
and Wahde, Mattias and Sanfridson, Martin},
journal={arXiv preprint arXiv:1911.12597},
year={2019}
}

Evaluation in Bird's Eye View


Benchmark MaxF AP PRE REC FPR FNR
UM_ROAD 94.55 % 93.12 % 94.81 % 94.29 % 2.35 % 5.71 %
UMM_ROAD 96.75 % 95.39 % 96.84 % 96.66 % 3.46 % 3.34 %
UU_ROAD 94.53 % 92.54 % 94.60 % 94.46 % 1.76 % 5.54 %
URBAN_ROAD 95.55 % 93.71 % 95.68 % 95.42 % 2.37 % 4.58 %
This table as LaTeX

Behavior Evaluation


Benchmark PRE-20 F1-20 HR-20 PRE-30 F1-30 HR-30 PRE-40 F1-40 HR-40
This table as LaTeX

Road/Lane Detection

The following plots show precision/recall curves for the bird's eye view evaluation.



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Distance-dependent Behavior Evaluation

The following plots show the F1 score/Precision/Hitrate with respect to the longitudinal distance which has been used for evaluation.


Visualization of Results

The following images illustrate the performance of the method qualitatively on a couple of test images. We first show results in the perspective image, followed by evaluation in bird's eye view. Here, red denotes false negatives, blue areas correspond to false positives and green represents true positives.



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