YOLOP-E: You Only Look Once for Expressway Panoramic Driving Perception

Our paper: YOLOP-E: You Only Look Once for Expressway Panoramic Driving Perception(Submitted).

Our datasets and weights: SDExpressway, yolop.pth, yolope.pth.

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The Illustration of YOLOP-E

The Illustration of ELAN-X

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Contributions

• This study has produced the expressway multi-task dataset, SDExpressway, encompassing 5603 images captured under various weather conditions, including sunny, dark, rainy and foggy scenarios. Each image in the dataset has been meticulously labeled with drivable areas, lane lines, and traffic object information.

• This research endeavors include the optimization of the ELAN module, resulting in the creation of a more efficient aggregated network structure known as ELAN-X. This innovation facilitates the amalgamation of feature information from various depths for parallel processing, enhancing the sensory field and feature expression of the model. These enhancements bolster the accuracy of the multi-task model's detection capabilities.

• This paper introduce an efficient multi-task network, YOLOP-E, tailored for expressway scenarios and built upon the YOLOP framework. YOLOP-E is engineered to jointly handle three critical tasks in autonomous driving: traffic object detection, drivable area segmentation, and lane line segmentation.

• The proposed network undergoes extensive evaluation on both the SDExpressway dataset and the widely recognized BDD100k dataset, including ablation experiments and state-of-the-art (SOTA) comparison experiments to demonstrate the efficacy of the various improvements integrated into the model. Notably, the proposed model showcases robustness and strong generalization abilities, even in challenging environmental conditions.

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Results

On the SDExpressway

Traffic Object Detection Result

Network	R(%)	mAP50(%)	mAP50:95(%)	FPS(fps)
YOLOP(baseline)	86.8	74.4	38.7	232
HybridNets	90.1	76.4	42.1	110
YOLOP-E(ours)	92.1(+5.3)	83.8(+9.4)	53.3(+14.6)	127

Drivable Area Segmentation Result

Network	mIoU(%)	FPS(fps)
YOLOP(baseline)	97.7	232
HybridNets	97.5	110
YOLOP-E(ours)	98.1(+0.4)	127

Lane Detection Result

Network	Acc(%)	IoU(%)	FPS(fps)
YOLOP(baseline)	90.8	72.8	232
HybridNets	92.0	75.7	110
YOLOP-E(ours)	92.1(+1.3)	76.2(+3.4)	127

On the BDD100k

Traffic Object Detection Result

Network	R(%)	mAP50(%)	mAP50:95(%)	FPS(fps)
YOLOP(baseline)	89.5	76.3	43.1	230
MultiNet	81.3	60.2	33.1	51
DLT-Net	89.4	68.4	38.6	56
HybridNets	92.8	77.3	45.8	108
YOLOP-E(ours)	92.0(+2.5)	79.7(+3.4)	46.7(+3.6)	120

Drivable Area Segmentation Result

Network	mIoU(%)	FPS(fps)
YOLOP(baseline)	91.3	230
MultiNet	71.6	51
DLT-Net	71.3	56
HybridNets	90.5	108
YOLOP-E(ours)	92.1(+0.8)	120

Lane Detection Result

Network	Acc(%)	IoU(%)	FPS(fps)
YOLOP(baseline)	70.5	26.2	230
HybridNets	85.4	31.6	108
YOLOP-E(ours)	73.0 (+2.5)	27.3(+1.1)	120

The evaluation of effificient experiments

The comparison of performance effects of adding SimAM attention mechanisms at different locations

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Visualization

NOTE：YOLOP (left), HybridNets (center), and YOLOP-E (right)

Traffic Object Detection Result

Drivable Area Segmentation Result

Lane Detection Result

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Getting Started

Installation

a. Clone this repository

git clone git@github.com:xingchenshanyao/YOLOP-E.git && cd /YOLOP-E

b. Install the environment

conda create -n YOLOPE python=3.8
conda activate  YOLOPE
pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118 # install the pytorch
pip install -r requirements.txt

c. Prepare the datasets and weights

Download the datasets and weights: SDExpressway, yolop.pth, yolope.pth.

We recommend the weight directory structure to be the following :

#root directory
├─weights
│ ├─yolop.pth
│ ├─yolope.pth

Add the true dataset path in lib/config/default.py.

_C.DATASET.DATAROOT = '/home/xingchen/Study/datasets/SDExpressway/images'       # the path of images folder
_C.DATASET.LABELROOT = '/home/xingchen/Study/datasets/SDExpressway/traffic object labels'      # the path of det_annotations folder
_C.DATASET.MASKROOT = '/home/xingchen/Study/datasets/SDExpressway/drivable area labels'                # the path of da_seg_annotations folder
_C.DATASET.LANEROOT = '/home/xingchen/Study/datasets/SDExpressway/lane line labels'               # the path of ll_seg_annotations folder

Demo Test

python tools/demo.py --weights weights/yolop.pth --source inference/images/8.jpg --save-dir inference/output_yolope

Training

python tools/train.py

Evaluation

python tools/test.py --weights --weights weights/yolope.pth

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Demonstration

Output1	Output2

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Acknowledgements:

This work is built upon the YOLOP, YOLOv7, YOLOv5.

This work receives assistance from 华夏街景 as well.