Abstract
Accurately detecting road and its boundary on the images is an essential task for vision-based autonomous driving systems. However, prevailing methods either only detect road or add an extra processing stage to detect road boundary. In this work, we introduce a deep neural network, called Road and road Boundary detection Network (RBNet), that can detect both road and road boundary in a single process. In specific, we first investigate the contextual relationship between the road structure and its boundary arrangement and then model them with a Bayesian network. By implementing the Bayesian model, the RBNet can learn to simultaneously estimate the probabilities of a pixel on the image belonging to the road and road boundary. Comprehensive evaluations are carried out based on the well-known road benchmark, which can demonstrate the compelling performance of the proposed method.
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