Traffic environment perception is the foundation of autonomous driving, and road type recognition can provide support information for decision making of the intelligent vehicle. In this paper, we adopt the strategy of integrating the Mask R-CNN model with two different convolutional neural networks (ResNet-101 and ResNet-50) to perform the road type recognition and establish road type dataset containing pictures of the expressway and urban main road based on the TT100K dataset. The experiment results indicate that Mask R-CNN with ResNet-50 can achieve the mAP of 96.30%, which is 17.60% higher than that of ResNet-101, and can realize the recognition of road type effectively. Also, the comparison between ResNet-50 and ResNet-101 demonstrates that for different recognition tasks with different amounts of data, suitable depth network needs to be chosen carefully in order to achieve satisfying results.
Intelligent Vehicle Road Type Recognition Based on Mask R-CNN
20th COTA International Conference of Transportation Professionals ; 2020 ; Xi’an, China (Conference Cancelled)
CICTP 2020 ; 942-951
2020-12-09
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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