Towards End-to-End Lane Detection: an Instance Segmentation Approach

Modern cars are incorporating an increasing number of driver assist features, among which automatic lane keeping. The latter allows the car to properly position itself within the road lanes, which is also crucial for any subsequent lane departure or trajectory planning decision in fully autonomous cars. Traditional lane detection methods rely on a combination of highly-specialized, hand-crafted features and heuristics, usually followed by post-processing techniques, that are computationally expensive and prone to scalability due to road scene variations. More recent approaches leverage deep learning models, trained for pixel-wise lane segmentation, even when no markings are present in the image due to their big receptive field. Despite their advantages, these methods are limited to detecting a pre-defined, fixed number of lanes, e.g. ego-lanes, and can not cope with lane changes. In this paper, we go beyond the aforementioned limitations and propose to cast the lane detection problem as an instance segmentation problem - in which each lane forms its own instance - that can be trained end-to-end. To parametrize the segmented lane instances before fitting the lane, we further propose to apply a learned perspective transformation, conditioned on the image, in contrast to a fixed "bird's-eye view" transformation. By doing so, we ensure a lane fitting which is robust against road plane changes, unlike existing approaches that rely on a fixed, pre-defined transformation. In summary, we propose a fast lane detection algorithm, running at 50 fps, which can handle a variable number of lanes and cope with lane changes. We verify our method on the tuSimple dataset and achieve competitive results

Error Correction for Dense Semantic Image Labeling

Pixelwise semantic image labeling is an important, yet challenging, task with many applications. Typical approaches to tackle this problem involve either the training of deep networks on vast amounts of images to directly infer the labels or the use of probabilistic graphical models to jointly model the dependencies of the input (i.e. images) and output (i.e. labels). Yet, the former approaches do not capture the structure of the output labels, which is crucial for the performance of dense labeling, and the latter rely on carefully hand-designed priors that require costly parameter tuning via optimization techniques, which in turn leads to long inference times. To alleviate these restrictions, we explore how to arrive at dense semantic pixel labels given both the input image and an initial estimate of the output labels. We propose a parallel architecture that: 1) exploits the context information through a LabelPropagation network to propagate correct labels from nearby pixels to improve the object boundaries, 2) uses a LabelReplacement network to directly replace possibly erroneous, initial labels with new ones, and 3) combines the different intermediate results via a Fusion network to obtain the final per-pixel label. We experimentally validate our approach on two different datasets for the semantic segmentation and face parsing tasks respectively, where we show improvements over the state-of-the-art. We also provide both a quantitative and qualitative analysis of the generated results

What Is Around The Camera?

How much does a single image reveal about the environment it was taken in? In this paper, we investigate how much of that information can be retrieved from a foreground object, combined with the background (i.e. the visible part of the environment). Assuming it is not perfectly diffuse, the foreground object acts as a complexly shaped and far-from-perfect mirror. An additional challenge is that its appearance confounds the light coming from the environment with the unknown materials it is made of. We propose a learning-based approach to predict the environment from multiple reflectance maps that are computed from approximate surface normals. The proposed method allows us to jointly model the statistics of environments and material properties. We train our system from synthesized training data, but demonstrate its applicability to real-world data. Interestingly, our analysis shows that the information obtained from objects made out of multiple materials often is complementary and leads to better performance.Comment: Accepted to ICCV. Project: http://homes.esat.kuleuven.be/~sgeorgou/multinatillum

DeLight-Net: Decomposing Reflectance Maps into Specular Materials and Natural Illumination

In this paper we are extracting surface reflectance and natural environmental illumination from a reflectance map, i.e. from a single 2D image of a sphere of one material under one illumination. This is a notoriously difficult problem, yet key to various re-rendering applications. With the recent advances in estimating reflectance maps from 2D images their further decomposition has become increasingly relevant. To this end, we propose a Convolutional Neural Network (CNN) architecture to reconstruct both material parameters (i.e. Phong) as well as illumination (i.e. high-resolution spherical illumination maps), that is solely trained on synthetic data. We demonstrate that decomposition of synthetic as well as real photographs of reflectance maps, both in High Dynamic Range (HDR), and, for the first time, on Low Dynamic Range (LDR) as well. Results are compared to previous approaches quantitatively as well as qualitatively in terms of re-renderings where illumination, material, view or shape are changed.Comment: Stamatios Georgoulis and Konstantinos Rematas contributed equally to this wor

Automated Search for Resource-Efficient Branched Multi-Task Networks

The multi-modal nature of many vision problems calls for neural network architectures that can perform multiple tasks concurrently. Typically, such architectures have been handcrafted in the literature. However, given the size and complexity of the problem, this manual architecture exploration likely exceeds human design abilities. In this paper, we propose a principled approach, rooted in differentiable neural architecture search, to automatically define branching (tree-like) structures in the encoding stage of a multi-task neural network. To allow flexibility within resource-constrained environments, we introduce a proxyless, resource-aware loss that dynamically controls the model size. Evaluations across a variety of dense prediction tasks show that our approach consistently finds high-performing branching structures within limited resource budgets.Comment: British Machine Vision Conference (BMVC) 202