LIU Lusheng, XU Jie, CUI Feng, XIE Qiwei, LONG Qian
Road condition detection is a core task in intelligent driving, including height limit detection tasks. Considering that the research related to height limit detection in the academic community is not yet mature, we have conducted research on height limit detection methods and proposed a height limit detection network based on key points and multi-frame image feature fusion. By adopting key points in the height limit detection task, unnecessary predictions are reduced and detection efficiency is improved. By introducing a convolutional gated recurrent unit (ConvGRU) to model multiple images and learn the contextual relationship between multiple images, improve recall rate, and reduce missed detection rate. The spatial particulars feature (SPF) module is proposed, which strengthens the multi-scale feature fusion in the decoding layer. In order to improve the accuracy of the model, the coordinate attention mechanism is introduced, and the target detection area is further paid attention to. According to the experimental results, this network can not only complete the height limit detection task well, but also balance the precision and recall rate better, with higher F1 values and fewer parameters compared with other advanced networks such as BiSeNet, PINet, PSPNet, etc; At the same time, in the task of lane line detection, it also performs excellently in terms of accuracy and missed detection rate, further proving the effectiveness of the network.