{"title":"MtpNet:多任务全景驾驶感知网络","authors":"Zheng Li;Xiaohui Yuan;Bifan Sun;Yuting Xia;Tingting Jiang;Chao Wang;Wentao Ma;Shuai Yang;Siyuan Liu;Lichuan Gu","doi":"10.1109/TITS.2025.3558467","DOIUrl":null,"url":null,"abstract":"Panoramic driving systems are crucial for autonomous driving but face challenges in real-time performance and reliability. This paper proposes an end-to-end, multi-tasking MtpNet that reduces latency and enhances detection accuracy. The convolution was upgraded using the Efficient Layer Aggregation Network, and precise multi-task loss functions and more effective training strategies were devised. Our results demonstrate improved performance in small object detection, partial occlusion handling, and drivable area segmentation. The recall of the traffic object detection is 1.3% higher than that of the state-of-the-art model, reaching 94.1%, the mAP50 is 6.4% higher, reaching 89.8%, and the mIoU of the drivable area segmentation is 2.7% higher, reaching 95.9%. Additionally, the accuracy of lane detection reached 88.7%. The visual comparison using three datasets TuSimple, CityScapes, and CULane demonstrates that MtpNet has good detection segmentation and strong robustness under various conditions. Codes are available at <uri>https://github.com/ErLinErYi/mtpnet</uri>","PeriodicalId":13416,"journal":{"name":"IEEE Transactions on Intelligent Transportation Systems","volume":"26 6","pages":"7600-7609"},"PeriodicalIF":8.4000,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"MtpNet: Multi-Task Panoptic Driving Perception Network\",\"authors\":\"Zheng Li;Xiaohui Yuan;Bifan Sun;Yuting Xia;Tingting Jiang;Chao Wang;Wentao Ma;Shuai Yang;Siyuan Liu;Lichuan Gu\",\"doi\":\"10.1109/TITS.2025.3558467\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Panoramic driving systems are crucial for autonomous driving but face challenges in real-time performance and reliability. This paper proposes an end-to-end, multi-tasking MtpNet that reduces latency and enhances detection accuracy. The convolution was upgraded using the Efficient Layer Aggregation Network, and precise multi-task loss functions and more effective training strategies were devised. Our results demonstrate improved performance in small object detection, partial occlusion handling, and drivable area segmentation. The recall of the traffic object detection is 1.3% higher than that of the state-of-the-art model, reaching 94.1%, the mAP50 is 6.4% higher, reaching 89.8%, and the mIoU of the drivable area segmentation is 2.7% higher, reaching 95.9%. Additionally, the accuracy of lane detection reached 88.7%. The visual comparison using three datasets TuSimple, CityScapes, and CULane demonstrates that MtpNet has good detection segmentation and strong robustness under various conditions. Codes are available at <uri>https://github.com/ErLinErYi/mtpnet</uri>\",\"PeriodicalId\":13416,\"journal\":{\"name\":\"IEEE Transactions on Intelligent Transportation Systems\",\"volume\":\"26 6\",\"pages\":\"7600-7609\"},\"PeriodicalIF\":8.4000,\"publicationDate\":\"2025-04-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Transactions on Intelligent Transportation Systems\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10967017/\",\"RegionNum\":1,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, CIVIL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Intelligent Transportation Systems","FirstCategoryId":"5","ListUrlMain":"https://ieeexplore.ieee.org/document/10967017/","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, CIVIL","Score":null,"Total":0}
Panoramic driving systems are crucial for autonomous driving but face challenges in real-time performance and reliability. This paper proposes an end-to-end, multi-tasking MtpNet that reduces latency and enhances detection accuracy. The convolution was upgraded using the Efficient Layer Aggregation Network, and precise multi-task loss functions and more effective training strategies were devised. Our results demonstrate improved performance in small object detection, partial occlusion handling, and drivable area segmentation. The recall of the traffic object detection is 1.3% higher than that of the state-of-the-art model, reaching 94.1%, the mAP50 is 6.4% higher, reaching 89.8%, and the mIoU of the drivable area segmentation is 2.7% higher, reaching 95.9%. Additionally, the accuracy of lane detection reached 88.7%. The visual comparison using three datasets TuSimple, CityScapes, and CULane demonstrates that MtpNet has good detection segmentation and strong robustness under various conditions. Codes are available at https://github.com/ErLinErYi/mtpnet
期刊介绍:
The theoretical, experimental and operational aspects of electrical and electronics engineering and information technologies as applied to Intelligent Transportation Systems (ITS). Intelligent Transportation Systems are defined as those systems utilizing synergistic technologies and systems engineering concepts to develop and improve transportation systems of all kinds. The scope of this interdisciplinary activity includes the promotion, consolidation and coordination of ITS technical activities among IEEE entities, and providing a focus for cooperative activities, both internally and externally.