3D-LaneNet+: Anchor Free Lane Detection using a Semi-Local Representation

动机：

对3D-LaneNet的改进； 特点 semi-local tile representation： breaks down lanes into simple lane segments whose parameters can be learnt
【CC】网格化，基于每个网格去学习Lane的特征；最后再通过NN合起来；这样天然就是Anchorfree的，并且支持不规则的/没有封闭的曲线

技术点：

3D-LaneNet： The first is a CNN architecture with integrated Inverse Perspective Mapping (IPM) to project feature maps to Bird Eye View (BEV)
【CC】NN网络集成IPM功能，这个还没看过，需要进一步看看

the second is an anchor based representation which allows casting the lane detection problem to a single stage object detection problem.
【CC】在这片文章了里面已经弃用了，不看了

not compact objects with easily defined centers. Therefore, instead of predicting the entire lane as a whole, we detect small lane segments that lie within the cell and their attributes
【CC】没法预测Lane的中心点，就基于Cell去做检测和attributives的预测

learn for each cell a global embedding that allows clustering the small lane segments together into full 3D lanes
【CC】合起来，没什么好说

相关论文参考

Towards End-to-End Lane Detection: an Instance Segmentation Approach
【CC】先切分再聚合的方式做检测；有点像M公司的做法

A Mixed Classification-Regression Framework for 3D Pose Estimation from 2D Images
【CC】参考 分类-回归的混合框架