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@ -17,7 +17,6 @@
\usepackage{amssymb} \usepackage{amssymb}
\usepackage{booktabs} \usepackage{booktabs}
\usepackage{tikz} \usepackage{tikz}
\usepackage{arydshln} % 用于虚线功能
\usepackage[table,xcdraw]{xcolor} \usepackage[table,xcdraw]{xcolor}
\definecolor{darkgreen}{RGB}{17,159,27} % 或者使用其他 RGB 值定义深绿色 \definecolor{darkgreen}{RGB}{17,159,27} % 或者使用其他 RGB 值定义深绿色
\aboverulesep=0pt \aboverulesep=0pt
@ -116,234 +115,7 @@ In recent years, fueled by advancements in deep learning and the availability of
\begin{figure}[t]
\centering
\def\subwidth{0.24\textwidth}
\def\imgwidth{\linewidth}
\def\imgheight{0.4\linewidth}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/heatmap/cam1.jpg}
\caption{}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/heatmap/anchor1.jpg}
\caption{}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/heatmap/cam2.jpg}
\caption{}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/heatmap/anchor2.jpg}
\caption{}
\end{subfigure}
\caption{Comparision between different anchor thresholds in different scenarios. (a) Ground truth in dense scenario. (b) Predictions with large nms thresholds in dense scenario. (c) Ground truth in sparse scenario. (d) Predictions with small nms threshol in sparse scenario.}
\label{cam}
\end{figure}
\begin{figure*}[htbp]
\centering
\def\subwidth{0.24\textwidth}
\def\imgwidth{\linewidth}
\def\imgheight{0.5625\linewidth}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun_pred50.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun_pred15.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun_nmsfree.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun2_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun2_pred50.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun2_pred15.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun2_nmsfree.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less_pred50.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less_pred15.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less_nmsfree.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less2_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less2_pred50.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less2_pred15.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less2_nmsfree.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all_pred50.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all_pred15.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all_nmsfree.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_gt.jpg}
\caption{GT}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_pred50.jpg}
\caption{NMS50}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_pred15.jpg}
\caption{NMS15}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_nmsfree.jpg}
\caption{NMSFree}
\end{subfigure}
\vspace{0.5em}
\caption{hhh}
\end{figure*}
\begin{figure*}[htbp]
\centering
\def\subwidth{0.24\textwidth}
\def\imgwidth{\linewidth}
\def\imgheight{0.5625\linewidth}
\def\dashheight{0.8\linewidth}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/1_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/2_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/1_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/2_gt.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/1_pred.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/2_pred.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/1_pred.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/2_pred.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/1_anchor.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/2_anchor.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/1_anchor.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/2_anchor.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{tikzpicture}
\draw[dashed, pattern=on 8pt off 2pt, color=gray, line width=1pt] (-\textwidth/2,0) -- (\textwidth/2,0);
\end{tikzpicture}
\vspace{0.05em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_gt.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_pred.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_pred.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_pred.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_pred.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_anchor.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_anchor.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_anchor.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_anchor.jpg}
\end{subfigure}
\vspace{0.5em}
\caption{hhh}
\end{figure*}
Drawing inspiration from object detection methods such as Yolos and Fast RCNN, several anchor-based approaches have been introduced for lane detection, the representative work including LanesATT and CLRNet. These methods have demonstrated superior performance by leveraging anchor priors and enabling larger receptive fields for feature extraction. However, anchor-based methods encounter similar drawbacks as anchor-based general object detection method as follows: Drawing inspiration from object detection methods such as Yolos and Fast RCNN, several anchor-based approaches have been introduced for lane detection, the representative work including LanesATT and CLRNet. These methods have demonstrated superior performance by leveraging anchor priors and enabling larger receptive fields for feature extraction. However, anchor-based methods encounter similar drawbacks as anchor-based general object detection method as follows:
@ -388,9 +160,9 @@ This paper aims to address the two issue mentioned above (reducing anchors numbe
\section{Method} \section{Method}
The overall architecture of PolarRCNN is illustrated in fig. \ref{overall_architecture}. Our model consists of backbone-FPN, local polar head and global polar head. Only simple network layers such as convolution, MLP and pooling ops are used in each bolck (rather than attention, dynamic kernels, etc.). The overall architecture of PolarRCNN is illustrated in fig. \ref{overall_architecture}. Our model consists of backbone-FPN, local polar head and global polar head. Only simple network layers such as convolution, MLP and pooling ops are used in each bolck (rather than attention, dynamic kernels, etc.).
\begin{figure*}[ht] \begin{figure*}[t]
\centering \centering
\includegraphics[width=0.9\textwidth]{thsis_figure/ovarall_architecture.png} % 替换为你的图片文件名 \includegraphics[width=\linewidth]{thsis_figure/ovarall_architecture.png} % 替换为你的图片文件名
\caption{The overall pipeline of PolarRCNN. The architecture is simple and lightweight. The backbone (e.g. ResNet18) and FPN aims to extract feature of the image. And the Local polar head aims to proposed sparse line anchors. After pooling features sample along the line anchors, the global polar head give the final predictions. Trilet subheads are set in the Global polar Head, including an one-to-one classification head (O2O Cls head), an one-to-many classification head (O2M Cls head) and an one-to-many regression head (O2M Reg Head). The one-to-one cls head aim to replace the NMS postprocessing and select only one positive prediction sample for each groundtruth from the redundant predictions from the O2M head.} \caption{The overall pipeline of PolarRCNN. The architecture is simple and lightweight. The backbone (e.g. ResNet18) and FPN aims to extract feature of the image. And the Local polar head aims to proposed sparse line anchors. After pooling features sample along the line anchors, the global polar head give the final predictions. Trilet subheads are set in the Global polar Head, including an one-to-one classification head (O2O Cls head), an one-to-many classification head (O2M Cls head) and an one-to-many regression head (O2M Reg Head). The one-to-one cls head aim to replace the NMS postprocessing and select only one positive prediction sample for each groundtruth from the redundant predictions from the O2M head.}
\label{overall_architecture} \label{overall_architecture}
\end{figure*} \end{figure*}
@ -884,7 +656,234 @@ In the testing stage, anchors with the top-$k_{l}$ confidence are the chosed as
\end{tabular} \end{tabular}
\end{adjustbox} \end{adjustbox}
\end{table} \end{table}
\begin{figure}[t]
\centering
\def\subwidth{0.24\textwidth}
\def\imgwidth{\linewidth}
\def\imgheight{0.4\linewidth}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/heatmap/cam1.jpg}
\caption{}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/heatmap/anchor1.jpg}
\caption{}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/heatmap/cam2.jpg}
\caption{}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/heatmap/anchor2.jpg}
\caption{}
\end{subfigure}
\caption{Comparision between different anchor thresholds in different scenarios. (a) Ground truth in dense scenario. (b) Predictions with large nms thresholds in dense scenario. (c) Ground truth in sparse scenario. (d) Predictions with small nms threshol in sparse scenario.}
\label{cam}
\end{figure}
\begin{figure*}[htbp]
\centering
\def\subwidth{0.24\textwidth}
\def\imgwidth{\linewidth}
\def\imgheight{0.5625\linewidth}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun_pred50.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun_pred15.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun_nmsfree.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun2_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun2_pred50.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun2_pred15.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/redun2_nmsfree.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less_pred50.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less_pred15.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less_nmsfree.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less2_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less2_pred50.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less2_pred15.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/less2_nmsfree.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all_pred50.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all_pred15.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all_nmsfree.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_gt.jpg}
\caption{GT}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_pred50.jpg}
\caption{NMS50}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_pred15.jpg}
\caption{NMS15}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_nmsfree.jpg}
\caption{NMSFree}
\end{subfigure}
\vspace{0.5em}
\caption{hhh}
\end{figure*}
\begin{figure*}[htbp]
\centering
\def\subwidth{0.24\textwidth}
\def\imgwidth{\linewidth}
\def\imgheight{0.5625\linewidth}
\def\dashheight{0.8\linewidth}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/1_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/2_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/1_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/2_gt.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/1_pred.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/2_pred.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/1_pred.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/2_pred.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/1_anchor.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/2_anchor.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/1_anchor.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/2_anchor.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{tikzpicture}
\draw[dashed, pattern=on 8pt off 2pt, color=gray, line width=1pt] (-\textwidth/2,0) -- (\textwidth/2,0);
\end{tikzpicture}
\vspace{0.05em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_gt.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_gt.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_pred.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_pred.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_pred.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_pred.jpg}
\end{subfigure}
\vspace{0.5em}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_anchor.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_anchor.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_anchor.jpg}
\end{subfigure}
\begin{subfigure}{\subwidth}
\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_anchor.jpg}
\end{subfigure}
\vspace{0.5em}
\caption{hhh}
\end{figure*}
\section{Conclusion} \section{Conclusion}
The conclusion goes here. The conclusion goes here.

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Width:  |  Height:  |  Size: 1.4 MiB