The road network is essential for autonomous driving vehicles to navigate in intelligent transportation systems. With the success of deep learning, many methods regard road extraction as dense pixel-wise segmentation based on neural networks. However, the predicted fragmented road regions, resulting from frequently occurring occlusions, are challenging to utilize in topology-required autonomous driving applications. In this paper, we formulate road extraction as sparse anchor-points estimation and their connectivity construction problems to enhance the global topology of roads. We design a multi-task architecture within an encoder-decoder framework to simultaneously predict the segmentation, anchor-points and connectivity maps. Besides, we propose a topo-swin block and incorporate multi-level feature maps in the decoder to combine local information with long-distance topological relationships. Furthermore, a graph simplification criterion is designed to make it more efficient for autonomous driving applications. Experiments on the challenging Deepglobe dataset demonstrate that our proposed model outperforms existing road extraction methods by achieving 77.24% in topology-aware metrics.


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    Title :

    Topology-aware Road Extraction via Multi-task Learning for Autonomous Driving


    Contributors:
    Li, Tao (author) / Ye, Shanding (author) / Li, Ruihang (author) / Fu, Yongjian (author) / Yang, Guoqing (author) / Pan, Zhijie (author)


    Publication date :

    2023-09-24


    Size :

    1849201 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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