提升车道检测的结构感知与定位质量,显著降低误检漏检。
Structure-Enhanced Features and Quality-Aware Dynamic Anchor Scoring for Robust Lane Detection

- 引入方向性令牌增强特征连续性,保持车道线结构完整性。
- 动态评分机制结合质量监督,使错误锚点在NMS前被抑制。
- 无需额外推理分支,轻量级改进适配现有检测框架。
车道检测需在复杂驾驶条件下恢复细长且常被遮挡的车道结构。尽管基于锚框的检测器能高效生成候选框,但其性能受限于两个耦合问题:骨干网络特征常丢失部分可见车道的结构连续性;分类置信度与线级定位质量脱钩,导致不准确锚框在非极大值抑制(NMS)前持续存在。本文提出结构增强与质量感知框架,改进车道表示与动态锚框评分,同时保留锚分解网络(ADNet)的推理流程。具体地,门控水平-垂直令牌(GHVT)模块通过可学习残差门控制轻量级方向性令牌交互,增强中高阶特征的结构连贯性。并行地,线质量感知动态锚框评分(LQAS)利用质量监督、硬负样本抑制与成对排序校准现有分类得分,无需增加推理分支。在VIL-100数据集上,该方法将ADNet-R34的F1@50从89.97提升至91.28,同时减少误报与漏报。在CULane与TuSimple数据集上的附加实验、详尽消融分析、得分分布诊断及运行时分析均验证了结构与排序改进的互补性,且计算开销极低。
原文摘要 · Abstract (English)
Lane detection requires recovering thin, elongated, and frequently occluded lane structures under challenging driving conditions. While anchor-based detectors provide efficient candidate generation, their performance is limited by two coupled issues: backbone features often lose structural continuity along partially visible lanes, and classification confidence may decouple from line-level localization quality, allowing inaccurate anchors to persist before non-maximum suppression (NMS). We propose a structure-enhanced and quality-aware framework that improves lane representation and dynamic-anchor scoring while preserving the inference pipeline of the Anchor Decomposition Network (ADNet). Specifically, a Gated Horizontal-Vertical Token (GHVT) module enhances mid- and high-level backbone features via lightweight directional token interactions with a learnable residual gate. In parallel, Line-Quality-Aware Dynamic Anchor Scoring (LQAS) calibrates existing classification logits using quality supervision, hard-negative suppression, and pairwise ranking without adding inference branches. On the VIL-100 dataset, our method improves ADNet-R34 from 89.97 to 91.28 in F1 score at the 0.5 intersection-over-union threshold (F1@50), reducing both false positives and false negatives. Additional experiments on CULane and TuSimple datasets, extensive ablations, score-distribution diagnostics, and runtime analysis confirm complementary structural and ranking improvements with minimal computational overhead.
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