提升车道检测几何精度,让模型更可靠地识别复杂弯道。
GFSR: Geometric Fidelity and Spatial Refinement for Reliable Lane Detection

- 用车道交并比引导置信度校准,融合语义与几何可靠性。
- 在复杂车道上实现81.46%的F1_50得分,优于现有方法。
- 适合需要高精度车道感知的自动驾驶系统研发者。
车道检测是自动驾驶和高级驾驶辅助系统中的关键感知任务。然而,现有方法在复杂真实场景中仍存在两大瓶颈:一是分类置信度仅反映车道类别存在性,与几何质量无关,仅依赖该置信度进行阈值筛选和非极大值抑制,易保留高置信但几何差的车道;二是回归模块削弱采样点间关联,难以优化远距离、高曲率及复杂拓扑车道,导致欠拟合。为此,我们提出几何保真与空间精修框架GFSR,包含车道交并比(LaneIoU)引导的置信度校准(LCC)和自适应门控位置精修(AGLR)。LCC以LaneIoU作为软监督,显式估计车道先验的几何保真度,并与分类置信度融合生成协同可靠性指数(CRI),指导车道先验过滤,有效保留高置信且几何优良的车道。同时,AGLR在每轮精修中预测采样点横向偏移,通过门控机制自适应调节修正强度,增强点间关联,提升模型对复杂车道场景的适应性与鲁棒性。在CULane和CurveLanes数据集上的大量实验表明,所提GFSR在CULane上达到81.46% F1_50和65.01% F1_75,在CurveLanes上达87.35% F1_50,性能领先。
原文摘要 · Abstract (English)
Lane detection stands as a crucial perception task in autonomous driving and advanced driver assistance systems. However, existing methods still degrade in complex real scenarios due to two major limitations. First, classification confidence only characterizes the categorical existence of lane priors and has no strong correlation with geometric quality. If threshold filtering and NMS are conducted merely based on this confidence, the model tends to retain lane priors with high confidence while eliminating those with lower confidence but superior geometric representation. Secondly, the regression modules in existing methods weaken correlations among sampling points, hindering fine-grained optimization of distant, high-curvature and complex-topology lanes and causing underfitting. To address these issues, we propose Geometric Fidelity and Spatial Refinement (GFSR), a framework consisting of LaneIoU-guided Confidence Calibration (LCC) and Adaptive Gated Location Refinement (AGLR). Specifically, LCC adopts LaneIoU as soft supervision to explicitly estimate the geometric fidelity of lane priors, which is further fused with classification confidence to construct the Collaborative Reliability Index (CRI). This index guides lane prior filtering, effectively retaining those with high classification confidence and favorable geometric quality. Meanwhile, cooperating with regression heads in each refinement stage, AGLR predicts sampling point lateral offsets and adopts a gating mechanism to adaptively regulate correction magnitude, strengthen inter-point correlations and boost model adaptability as well as robustness toward complex lane scenarios. Extensive experiments on CULane and CurveLanes demonstrate that our GFSR achieves state-of-the-art performance on CULane, with F1_50 and F1_75 scores of 81.46% and 65.01%, and reaches 87.35% F1_50 on CurveLanes.
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