Road Region Extraction Algorithm and Benchmark for Complex Illumination Road Scene

Jingchao Yang; Yong Li; Jianjun Zhang

doi:10.3788/LOP57.121504

Journals >Laser & Optoelectronics Progress >Volume 57 >Issue 12 >Page 121504 > Article

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

Road Region Extraction Algorithm and Benchmark for Complex Illumination Road Scene

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

Author Affiliations

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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DOI: 10.3788/LOP57.121504 Cite this Article Set citation alerts

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 Copy Citation Text

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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

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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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 1. Evaluation results comparison of different methods

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

Table 2. Average calculation time comparison

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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