Yaxin Feng

Yaxin Feng, Yuan Lan, Luchan Zhang et al.

Urban segmentation and lane detection are two important tasks for traffic scene perception. Accuracy and fast inference speed of visual perception are crucial for autonomous driving safety. Fine and complex geometric objects are the most challenging but important recognition targets in traffic scene, such as pedestrians, traffic signs and lanes. In this paper, a simple and efficient topology-aware energy loss function-based network training strategy named EIEGSeg is proposed. EIEGSeg is designed for multi-class segmentation on real-time traffic scene perception. To be specific, the convolutional neural network (CNN) extracts image features and produces multiple outputs, and the elastic interaction energy loss function (EIEL) drives the predictions moving toward the ground truth until they are completely overlapped. Our strategy performs well especially on fine-scale structure, \textit{i.e.} small or irregularly shaped objects can be identified more accurately, and discontinuity issues on slender objects can be improved. We quantitatively and qualitatively analyze our method on three traffic datasets, including urban scene segmentation data Cityscapes and lane detection data TuSimple and CULane. Our results demonstrate that EIEGSeg consistently improves the performance, especially on real-time, lightweight networks that are better suited for autonomous driving.

Yaxin Feng, Yang Xiang, Haomin Zhou

In this paper, we propose an initial value fomulation of the discrete mean field games on finite graphs (Graph MFG), and design a neural network based approach to solve it. Graph MFG describes infinite, non-cooperative and interactive homogeneous agents move on node states through the edges to optimize their own goals. Nash Equilibrium of the Graph MFG is characterized by a coupled ordinary differential equations (ODE) system, including the discrete forward continuity equation and the discrete backward Hamilton-Jacobi equation. In this paper, we mainly focus on the potential mean field games (Potential MFG) on finite graphs, which has an infinite-dimensional constrained optimization structure. We reformulate Potential MFG as an initial value finite-dimentional optimization problem with dynamics constrains, names Graph MFG-IV. Specifically, the initial condition of the Hamilton-Jacobi equation is regarded as the unique variable, constrained by the coupled Hamilton-Jacobi and continuity equation system as the ODE integrator. This formulation is a reduced-order model, which avoids time-discretization of the infinite-dimensional path and has a much smaller searching space than the general path-wise problem setting. We design a neural network-based approach to solve the Graph MFG-IV problem.

Yaxin Feng, Yuan Lan, Luchan Zhang et al.

The task of lane detection involves identifying the boundaries of driving areas in real-time. Recognizing lanes with variable and complex geometric structures remains a challenge. In this paper, we explore a novel and flexible way of implicit lanes representation named \textit{Elastic Lane map (ELM)}, and introduce an efficient physics-informed end-to-end lane detection framework, namely, ElasticLaneNet (Elastic interaction energy-informed Lane detection Network). The approach considers predicted lanes as moving zero-contours on the flexibly shaped \textit{ELM} that are attracted to the ground truth guided by an elastic interaction energy-loss function (EIE loss). Our framework well integrates the global information and low-level features. The method performs well in complex lane scenarios, including those with large curvature, weak geometry features at intersections, complicated cross lanes, Y-shapes lanes, dense lanes, etc. We apply our approach on three datasets: SDLane, CULane, and TuSimple. The results demonstrate exceptional performance of our method, with the state-of-the-art results on the structurally diverse SDLane, achieving F1-score of 89.51, Recall rate of 87.50, and Precision of 91.61 with fast inference speed.