Polar R-CNN: End-to-End Lane Detection with Fewer Anchors

원문 초록

Lane detection is a critical and challenging task in autonomous driving, particularly in real-world scenarios where traffic lanes can be slender, lengthy, and often obscured by other vehicles, complicating detection efforts. Existing anchor-based methods typically rely on prior lane anchors to extract features and subsequently refine the location and shape of lanes. While these methods achieve high performance, manually setting prior anchors is cumbersome, and ensuring sufficient coverage across diverse datasets often requires a large amount of dense anchors. Furthermore, the use of Non-Maximum Suppression (NMS) to eliminate redundant predictions complicates real-world deployment and may underperform in complex scenarios. In this paper, we propose Polar R-CNN, an end-to-end anchor-based method for lane detection. By incorporating both local and global polar coordinate systems, Polar R-CNN facilitates flexible anchor proposals and significantly reduces the number of anchors required without compromising performance.Additionally, we introduce a triplet head with heuristic structure that supports NMS-free paradigm, enhancing deployment efficiency and performance in scenarios with dense lanes.Our method achieves competitive results on five popular lane detection benchmarks--Tusimple, CULane,LLAMAS, CurveLanes, and DL-Rai--while maintaining a lightweight design and straightforward structure. Our source code is available at https://github.com/ShqWW/PolarRCNN.