CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution

This is the official implementation code of the paper "CondLaneNet: a Top-to-down Lane Detection Framework Based on ConditionalConvolution". (Link: https://arxiv.org/abs/2105.05003) We achieve state-of-the-art performance on multiple lane detection benchmarks.

Installation

This implementation is based on mmdetection(v2.0.0). Please refer to install.md for installation.

Datasets

We conducted experiments on CurveLanes, CULane and TuSimple. Please refer to dataset.md for installation.

Models

For your convenience, we provide the following trained models on Curvelanes, CULane, and TuSimple datasets

Testing

CurveLanes 1 Edit the "data_root" in the config file to your Curvelanes dataset path. For example, for the small version, open "configs/curvelanes/curvelanes_small_test.py" and set "data_root" to "[your-data-path]/curvelanes".

2 run the test script

cd [project-root]
python tools/condlanenet/curvelanes/test_curvelanes.py configs/condlanenet/curvelanes/curvelanes_small_test.py [model-path] --evaluate

If "--evaluate" is added, the evaluation results will be printed. If you want to save the visualization results, you can add "--show" and add "--show_dst" to specify the save path.

CULane

1 Edit the "data_root" in the config file to your CULane dataset path. For example,for the small version, you should open "configs/culane/culane_small_test.py" and set the "data_root" to "[your-data-path]/culane".

2 run the test script

cd [project-root]
python tools/condlanenet/culane/test_culane.py configs/condlanenet/culane/culane_small_test.py [model-path]

• you can add "--show" and add "--show_dst" to specify the save path.
• you can add "--results_dst" to specify the result saving path.

3 We use the official evaluation tools of SCNN to evaluate the results.

TuSimple

1 Edit the "data_root" in the config file to your TuSimple dataset path. For example,for the small version, you should open "configs/tusimple/tusimple_small_test.py" and set the "data_root" to "[your-data-path]/tuSimple".

2 run the test script

cd [project-root]
python tools/condlanenet/tusimple/test_tusimple.py configs/condlanenet/tusimple/tusimple_small_test.py [model-path]

• you can add "--show" and add "--show_dst" to specify the save path.
• you can add "--results_dst" to specify the result saving path.

3 We use the official evaluation tools of TuSimple to evaluate the results.

Speed Test

cd [project-root]
python tools/condlanenet/speed_test.py configs/condlanenet/culane/culane_small_test.py [model-path]

Training

For example, train CULane using 4 gpus:

cd [project-root]
CUDA_VISIBLE_DEVICES=0,1,2,3 PORT=29001 tools/dist_train.sh configs/condlanenet/culane/culane_small_train.py 4 --no-validate 

Results

CurveLanes

CULane

TuSimple

Visualization results