基于轴向注意力的多任务自动驾驶环境感知算法
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李沈崇,曾新华,林传渠
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Multi-task environment perception algorithm for autonomous driving based on axial attention
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Shenchong LI,Xinhua ZENG,Chuanqu LIN
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| 表 4 所提算法的模块消融实验结果 |
| Tab.4 Experimental results of modular ablation for proposed algorithm |
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| 模型编号 | AFM | Loss | Sea-Attention | Head | SimAM | R/% | mAP50/% | mIoU/% | Acc/% | IoU/% | FPS/（帧·s−1） | | 1 | — | — | — | — | — | 89.6 | 76.2 | 91.1 | 69.8 | 24.1 | 283.4 | | 2 | √ | — | — | — | — | 89.7 | 76.4 | 91.2 | 71.6 | 24.3 | 260.9 | | 3 | √ | √ | — | — | — | 90.1 | 77.0 | 91.9 | 73.7 | 25.5 | 260.9 | | 4 | — | √ | √ | — | — | 90.1 | 77.4 | 92.0 | 74.4 | 26.4 | 239.9 | | 5 | √ | √ | √ | — | — | 90.4 | 78.5 | 92.3 | 75.9 | 26.5 | 200.1 | | 6 | √ | — | √ | √ | — | 86.6 | 78.1 | 91.9 | 73.8 | 26.0 | 228.7 | | 7 | √ | √ | √ | √ | — | 88.8 | 80.1 | 92.5 | 77.3 | 26.8 | 228.7 | | 8 | √ | √ | √ | √ | √ | 89.1 | 79.8 | 92.5 | 77.2 | 26.8 | 223.7 |
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