Road Region Extraction Algorithm and Benchmark for Complex Illumination Road Scene

Jingchao Yang; Yong Li; Jianjun Zhang

doi:10.3788/LOP57.121504

Laser & Optoelectronics Progress, Volume. 57, Issue 12, 121504(2020)

Road Region Extraction Algorithm and Benchmark for Complex Illumination Road Scene

Jingchao Yang¹, Yong Li^2、*, and Jianjun Zhang²

¹Department of Electrical and Information Engineering, Hebei Jiaotong Vocational and Technical College, Shijiazhuang, Hebei 0 50091, China

²College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning 110819, China

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Figures & Tables(6)

Fig. 1. Flowchart of road detection. (a) Source image; (b) intrinsic image extraction; (c)image clustering segmentation results; (d) vanishing point and other road features extraction; (e) road area determination

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Fig. 2. Sample images of CIRSID dataset

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Fig. 3. Results of road region extraction. (a) Structured road; (b) unstructured road

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Fig. 4. Grading statistics results of evaluation criterions. (a) TPR; (b) FPR; (c) ACC; (d) PRE

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Table 1. Evaluation results comparison of different methods

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Table 1. Evaluation results comparison of different methods

Method	$\begin{matrix} \bar{E} \end{matrix}$ ±σ_E
Method	PRE	ACC	FPR	TPR
PERG	0.4786±0.4107	0.7981± 0.1337	0.0582± 0.0908	0.4189±0.4183
VPT	0.6866±0.0636	0.8473±0.0205	0.1539±0.0290	0.8855±0.0468
VESV	0.8523±0.1830	0.8243±0.1034	0.0347±0.0516	0.5040±0.2706
CISeg	0.8426±0.0945	0.9186±0.0135	0.0171±0.0011	0.7728±0.0995
IIVP	0.9138±0.0157	0.9496±0.0029	0.0344±0.0028	0.9202±0.0120
PMQE	0.9607±0.0074	0.9574±0.0013	0.0161±0.0022	0.8889±0.0062
DCSeg	0.8823±0.0503	0.9099±0.0090	0.0438±0.0089	0.7940±0.0456
FCN32	0.8755±0.0965	0.8374±0.0185	0.0034±0.0001	0.4739±0.1044
Proposed method	0.9078±0.0304	0.9366±0.0050	0.0352±0.0049	0.8692±0.0237

Table 2. Average calculation time comparison
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Table 2. Average calculation time comparison
Method $\begin{matrix} \bar{t} \end{matrix}$ /s σ_t
PERG 0.7404 0.1590
VPT 58.9353 3.1965
VESV 1.9975 0.4813
CISeg 0.8892 0.4540
IIVP 0.2453 0.0175
PMQE 0.1553 0.0065
DCSeg 1.1108 0.0409
Proposed method 1.1371 0.0499

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Jingchao Yang, Yong Li, Jianjun Zhang. Road Region Extraction Algorithm and Benchmark for Complex Illumination Road Scene[J]. Laser & Optoelectronics Progress, 2020, 57(12): 121504

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