联合语义分割和深度估计的交通场景感知算法

范康,钟铭恩,谭佳威,詹泽辉,冯妍

Traffic scene perception algorithm with joint semantic segmentation and depth estimation

Kang FAN,Ming’en ZHONG,Jiawei TAN,Zehui ZHAN,Yan FENG

表 8 不同多任务算法的距离估计误差对比结果

Tab.8 Comparison of distance estimation errors of different multi-task algorithms

方法 MRE/% mMRE/% person rider car bus truck MTAN 14.5 15.5 13.0 16.1 14.7 14.7 PAD-Net 12.6 13.3 10.7 12.4 11.3 12.0 PSD-Net 11.7 12.6 11.8 12.7 12.2 12.2 MTI-Net 12.3 12.8 9.8 11.4 10.7 11.4 InvPT 7.6 7.2 6.6 7.8 8.3 7.5 SDFormer 6.1 5.4 7.4 5.2 6.5 6.1