CANet: Curved Guide Line Network with Adaptive Decoder for Lane Detection

Lane detection is challenging due to the complicated onroad scenarios and line deformation from different camera perspectives. Lots of solutions were proposed, but can not deal with "corner lanes" well. To address this problem, this paper proposes a new top-down deep learning lane detection approach, CANet. A lane instance is first responded by the heatmap on the U-shaped "curved guide line" at global semantic level, thus the corresponding features of each lane are aggregated at the response point. Then CANet obtains the heatmap response of the entire lane through conditional convolution, and finally decodes the point set to describe lanes via adaptive decoder. The prototype is implemented with Pytorch, and evaluated against 3 well-known datasets extensively. The experimental results show that CANet reaches SOTA in different metrics.