2024/04/23 by Ming Nie, Nie, Ming, Xinyue Cai +5
Computer Science · Engineering · #Anomaly Detection Techniques and Applications #Autonomous Vehicle Technology and Safety #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Traffic Prediction and Management Techniques
paper · pdf · doi:10.48550/arxiv.2404.14671
openalex publication_date 2024/04/23 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Lane detection has evolved highly functional autonomous driving system to understand driving scenes even under complex environments. In this paper, we work towards developing a generalized computer vision system able to detect lanes without using any annotation. We make the following contributions: (i) We illustrate how to perform unsupervised 3D lane segmentation by leveraging the distinctive intensity of lanes on the LiDAR point cloud frames, and then obtain the noisy lane labels in the 2D plane by projecting the 3D points; (ii) We propose a novel self-supervised training scheme, dubbed LaneCorrect, that automatically corrects the lane label by learning geometric consistency and instance awareness from the adversarial augmentations; (iii) With the self-supervised pre-trained model, we distill to train a student network for arbitrary target lane (e.g., TuSimple) detection without any human labels; (iv) We thoroughly evaluate our self-supervised method on four major lane detection benchmarks (including TuSimple, CULane, CurveLanes and LLAMAS) and demonstrate excellent performance compared with existing supervised counterpart, whilst showing more effective results on alleviating the domain gap, i.e., training on CULane and test on TuSimple.