End-to-End Road Lane Detection and Estimation using Deep Learning

Detta är en Master-uppsats från Linköpings universitet/Datorseende

Sammanfattning: The interest for autonomous driving assistance, and in the end, self-driving cars, has increased vastly over the last decade. Automotive safety continues to be a priority for manufacturers, politicians and people alike. Visual-based systems aiding the drivers have lately been boosted by advances in computer vision and machine learning. In this thesis, we evaluate the concept of an end-to-end machine learning solution for detecting and classifying road lane markings, and compare it to a more classical semantic segmentation solution. The analysis is based on the frame-by-frame scenario, and shows that our proposed end-to-end system has clear advantages when it comes detecting the existence of lanes and producing a consistent, lane-like output, especially in adverse conditions such as weak lane markings. Our proposed method allows the system to predict its own confidence, thereby allowing the system to suppress its own output when it is not deemed safe enough. The thesis finishes with proposed future work needed to achieve optimal performance and create a system ready for deployment in an active safety product.

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