基于卷积神经网络和热图回归的非结构化道路消失点检测

非结构化道路消失点（VP）检测是一个具有挑战性的问题，尤其是在自动驾驶领域。在本文中，我们提出了一种结合卷积神经网络（CNN）和热图回归来检测非结构化道路VP的新颖解决方案。..

Unstructured Road Vanishing Point Detection Using the Convolutional Neural Network and Heatmap Regression

Unstructured road vanishing point (VP) detection is a challenging problem, especially in the field of autonomous driving. In this paper, we proposed a novel solution combining the convolutional neural network (CNN) and heatmap regression to detect unstructured road VP.The proposed algorithm firstly adopts a lightweight backbone, i.e., depthwise convolution modified HRNet, to extract hierarchical features of the unstructured road image. Then, three advanced strategies, i.e., multi-scale supervised learning, heatmap super-resolution, and coordinate regression techniques are utilized to achieve fast and high-precision unstructured road VP detection. The empirical results on Kong's dataset show that our proposed approach enjoys the highest detection accuracy compared with state-of-the-art methods under various conditions in real-time, achieving the highest speed of 33 fps.