Abstract: Road marking detection is an important branch in autonomous driving, understanding the road information. In recent years, deep-learning-based semantic segmentation methods for road marking detection have been arising since they can generalize detection result well under complicated environments and hold rich pixel-level semantic information. Nevertheless, the previous methods mostly study the training process of the segmentation network, while omitting the time cost of manually annotating pixel-level data. Besides, the pixel-level semantic segmentation results need to be fitted into more reliable and compact models so that geometrical information of road markings can be explicitly obtained. In order to tackle the above problems, this paper describes a semantic segmentation-based road marking detection method using around view monitoring system. A semiautomatic semantic annotation platform is developed, which exploits an auxiliary segmentation graph to speed up the annotation process while guaranteeing the annotation accuracy. A segmentation-based detection module is also described, which models the semantic segmentation results for the more robust and compact analysis. The proposed detection module is composed of three parts: vote-based segmentation fusion filtering, graph-based road marking clustering, and road-marking fitting. Experiments under various scenarios show that the semantic segmentation-based detection method can achieve accurate, robust, and real-time detection performance.

Key words: autonomous driving, semantic segmentation, road marking detection