Technology of Graphic & Image
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 11
3432-3436

Bird’s eye view map semantic segmentation algorithm based on Transformer and edge decoupling

Liang Tianjiao1,2
Zheng Ying3
Pan Weiguo1,2
Bao Hong1,2
1. Beijing Key Laboratory of Information Service Engineering, Beijing Union University, Beijing 100101, China
2. College of Robotics, Beijing Union University, Beijing 100027, China
3. School of Mechanical Electronic & Information Engineering, China University of Mining & Technology-Beijing, Beijing 100083, China
DOI: 10.19734/j.issn.1001-3695.2023.02.0071

Abstract

HD maps can provide accurate road information and rich semantic information, so that the automatic driving system can guide the vehicle to drive correctly. HD maps usually rely on manual labeling. The existing automatic labeling methods have low recognition accuracy in autonomous driving scenarios, resulting in low efficiency of HD map labeling. In order to solve this problem, this paper proposed a new semantic segmentation method for automatic labeling of HD maps called MapFormer. This paper proposed a multi-level feature fusion module, which enabled the model to aggregate different levels of detail and semantic information. Additionally, it proposed a novel boundary-decoupled joint decoder to improve the model's ability to handle inter-category boundaries. Experiments on the bird's-eye view dataset show that the proposed model not only achieves excellent performance in segmentation accuracy, but also has a clearer handling of category boundaries. The mIoU of MapFormer is 55.82%, which is higher than the SegFormer of 1.03%. The proposed method can improve the HD map labeling efficiency and labeling automation rate.

Foundation Support

北京市自然科学基金项目(4232026)
国家自然科学基金资助项目(61802019,6227204961932012,61871039)
北京市教育委员会科技计划资助项目(KM201911417003,KM201911417009,KM201911417001)
北京联合大学科研项目(ZK10202202)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.02.0071
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 11
Section: Technology of Graphic & Image
Pages: 3432-3436
Serial Number: 1001-3695(2023)11-035-3432-05

Publish History

[2023-05-06] Accepted Paper
[2023-11-05] Printed Article

Cite This Article

梁天骄, 郑颖, 潘卫国, 等. 基于Transformer和边缘解耦的鸟瞰地图语义分割算法 [J]. 计算机应用研究, 2023, 40 (11): 3432-3436. (Liang Tianjiao, Zheng Ying, Pan Weiguo, et al. Bird’s eye view map semantic segmentation algorithm based on Transformer and edge decoupling [J]. Application Research of Computers, 2023, 40 (11): 3432-3436. )

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  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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