基于语义似然与高精度地图匹配的智能车辆同时定位与检测

赖国良, 胡钊政, 周哲, 万金杰, 任靖渊

Simultaneous Detection and Localization for Intelligent Vehicles Based on HD Map Matching and Semantic Likelihood Model

LAI Guoliang, HU Zhaozheng, ZHOU Zhe, WAN Jinjie, REN Jingyuan

表3 语义检测结果的IoU对比

Tab.3 IoU of detection results of different methods

类别 IoU/% 本文 方法 Swin- Unet[20] ConvNext- Unet[21] U-Net 虚线 86.0 74.0 65.3 70.1 白色实线 90.6 65.7 56.3 78.1 停止线 85.7 69.9 64.8 62.3 直行箭头 87.6 72.6 71.8 60.2 直行或左转箭头 85.3 71.9 65.8 66.3 圆形井盖 81.4 66.9 60.7 58.7 方形井盖 84.3 71.3 70.1 58.6 黄色车道线 88.3 72.2 68.5 64.4 平均交并比 86.1 62.7 58.1 57.6