Upsampling Matters for Road Marking Segmentation of Autonomous Driving

Abstract

Abstract Although autonomous driving have become applicable to the industry, the prevalent application of key techniques to the autonomous vehicles still needs to be refined. For instance, how to fast and accurately segment road markings in order to assist the next pedestrian path prediction and the creation of high-definition (HD) map respectively is useful for autonomous driving to be more practical. Current road marking segmentation mainly rely on the techniques of semantic segmentation of computer vision with encoder-decoder architecture. However, as demonstrated in this paper, the upsampling layer of convolutional neural networks with encoder-decoder architecture plays a significant role in the efficiency and accuracy of the road marking segmentation. The bilinear upsampling layer is fast due to its intrinsic simple interpolation but with less accuracy; on the contrary, the upsampling layer with offsets is relatively accurate but with more computational cost. Therefore, at least, in terms of prevalent application, efficiency, and accuracy, the upsampling layer of decoder of convolution neural networks should be paid more attention to for the next research work of autonomous driving.