In this paper, we propose the concept of global guidance, design a global guidance structure based on a dual-scale global feature enhancement module, and construct a multi-task network (RTMDet-MGG) for road scene instance segmentation and drivable area segmentation in order to overcome the limitation of current multi-task networks in sharing features to different task branches. The proposed global guidance structure enhances the connection between different task branches in the multi-task network by sharing the enhanced global feature with different task branches through various fusion methods, thereby enhancing the multi-task network’s overall performance. With an input resolution of $\mathbf {640}\times \mathbf {360}$ on the BDD100K dataset, RTMDet-MGG achieves an accuracy of 18.7% mAP (mean average precision) on the instance mask and 82.9% mIoU (mean intersection over union) on the drivable area, with an inference speed of 32.1 FPS (frames per second), which satisfies the requirements of real-time tasks. In addition, the algorithm has excellent scene generalization capabilities, and the mIoU of drivable area segmentation on our custom-built dataset for unstructured road drivable area segmentation reaches 93.3%.
RTMDet-MGG: A Multi-Task Model With Global Guidance
IEEE Transactions on Intelligent Transportation Systems ; 25 , 11 ; 16791-16804
2024-11-01
2401885 byte
Article (Journal)
Electronic Resource
English
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