From c662ef0e470b494925e0340d0f18807ea4c82298 Mon Sep 17 00:00:00 2001 From: ShqWW Date: Mon, 12 Aug 2024 04:52:12 +0800 Subject: [PATCH] update --- main.tex | 215 +++++++++++++++++++++++++++++++++++++------------------ make.sh | 2 +- 2 files changed, 146 insertions(+), 71 deletions(-) diff --git a/main.tex b/main.tex index 5304319..f95fb5f 100644 --- a/main.tex +++ b/main.tex @@ -17,6 +17,7 @@ \usepackage{amssymb} \usepackage{booktabs} \usepackage{tikz} +\usepackage{tabularx} \usepackage[table,xcdraw]{xcolor} \usepackage[colorlinks,bookmarksopen,bookmarksnumbered, linkcolor=red]{hyperref} @@ -163,6 +164,41 @@ This paper aims to address the two issue mentioned above (reducing anchors numbe \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.). + +\begin{table}[h] + \centering + \caption{Notations of some important variable} + \begin{adjustbox}{width=\linewidth} + \begin{tabular}{lll} + \toprule + \textbf{Variable} & \textbf{Type} & \hspace{10em}\textbf{Defination} \\ + \midrule + \textbf{P}_{i} & tensor& The $i_{th}$ output feature map from FPN\\ + H^{local}& scalar& The height of the local polar map\\ + W^{local}& scalar& The weight of the local polar map\\ + K_{a} & scalar& The number of anchors selected during evaluation\\ + c^{global}& scalar& The radius of lane anchor under global polar coordinate\\ + c^{local}& scalar& The radius under local polar coordinate\\ + r^{global}_{i}& scalar& The $i_{th}$ anchor radius under global polar coordinate\\ + \theta^{global}_{i}& scalar& The $i_{th}$ anchor angle under global polar coordinate\\ + r^{local}_{i}& scalar& The $i_{th}$ anchor radius under global polar coordinate\\ + \theta^{local}_{i}& scalar& The $i_{th}$ anchor angle under global polar coordinate\\ + \midrule + \textbf{X}^{pool}_{i}& tensor& The pooling feature of the $i_{th}$ anchor\\ + N^{nbr}_{i}& set& The adjacent node set of the $i_{th}$ of anchor node\\ + C_{O2M} & scalar& The positive threshold of one-to-many confidence\\ + C_{O2O} & scalar& The positive threshold of one-to-one confidence\\ + \midrule + & & \\ + & & \\ + & & \\ + & & \\ + & & \\ + \bottomrule + \end{tabular} + \end{adjustbox} +\end{table} + \begin{figure*}[t] \centering \includegraphics[width=\linewidth]{thsis_figure/ovarall_architecture.png} % 替换为你的图片文件名 @@ -347,28 +383,34 @@ In the testing stage, anchors with the top-$k_{l}$ confidence are the chosed as \toprule \multicolumn{2}{c|}{\textbf{Dataset}} & CULane & TUSimple & LLAMAS & DL-Rail & Curvelanes \\ \midrule - \multirow{7}*{Data info} - & Train &3,268 &88,880&58,269&5,435&100,000\\ + \multirow{7}*{Dataset Description} + & Train &88,880/$55,698^{*}$&3,268 &58,269&5,435&100,000\\ & Validation &9,675 &358 &20,844&- &20,000 \\ & Test &34,680&2,782 &20,929&1,569&- \\ & Resolution &1640\times590&1280\times720&1276\times717&1920\times1080&2560\times1440, etc\\ & Lane &\leqslant4&\leqslant5&\leqslant4&=2&\leqslant10\\ - & Environment &urban and highway & highway&highway&Railay&urban and highway\\ - & Property &sparse&sparse&sparse&sparse&sparse and dense\\ + & Environment &urban and highway & highway&highway&railay&urban and highway\\ + & Distribution &sparse&sparse&sparse&sparse&sparse and dense\\ \midrule \multirow{1}*{Data Preprocess} & Crop Height &270&160&300&560&640, etc\\ \midrule - \multirow{8}*{Hyper Parameter} + \multirow{6}*{Training Parameter} & Epoch Number &32&70&20&90&32\\ & Batch Size &40&24&32&40&40\\ & Warm up iterations &800&200&800&400&800\\ - & Aux Loss &0.2&0 &0.2&0.2&0.2\\ - & Rank Loss &0.7&0.7&0.1&0.7&0 \\ + & Aux loss &0.2&0 &0.2&0.2&0.2\\ + & Rank loss &0.7&0.7&0.1&0.7&0 \\ + \midrule + \multirow{4}*{Evaluation Parameter} + & Polar map size &4\times10&4\times10&4\times10&4\times10&6\times13\\ + & Top anchor selection &20&20&20&12&50\\ & O2M conf thres &0.48&0.40&0.40&0.40&0.45\\ & O2O conf thres &0.46&0.46&0.46&0.46&0.44\\ - & Eval split &Test&Test&Test&Test&Validation\\ - & Vis split &Test&Test&Validation&Test&Validation\\ + \midrule + \multirow{2}*{Dataset Split} + & Evaluation &Test&Test&Test&Test&Val\\ + & Visualization &Test&Test&Val&Test&Val\\ \bottomrule \end{tabular} \end{adjustbox} @@ -770,18 +812,17 @@ In the testing stage, anchors with the top-$k_{l}$ confidence are the chosed as \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} + \caption{NMS@50} \end{subfigure} \begin{subfigure}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_pred15.jpg} - \caption{NMS15} + \caption{NMS@15} \end{subfigure} \begin{subfigure}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_nmsfree.jpg} @@ -789,108 +830,142 @@ In the testing stage, anchors with the top-$k_{l}$ confidence are the chosed as \end{subfigure} \vspace{0.5em} - \caption{hhh} + \caption{The Visualization of the detection results of sparse scenarios.} \end{figure*} - - \begin{figure*}[htbp] \centering - \def\subwidth{0.24\textwidth} + \def\pagewidth{0.49\textwidth} + \def\subwidth{0.47\linewidth} \def\imgwidth{\linewidth} \def\imgheight{0.5625\linewidth} \def\dashheight{0.8\linewidth} - \begin{subfigure}{\subwidth} + \begin{subfigure}{\pagewidth} + \rotatebox{90}{\small{GT}} + \begin{minipage}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/1_gt.jpg} - \end{subfigure} - \begin{subfigure}{\subwidth} + \end{minipage} + \begin{minipage}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/2_gt.jpg} + \end{minipage} \end{subfigure} - \begin{subfigure}{\subwidth} + \begin{subfigure}{\pagewidth} + \begin{minipage}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/1_gt.jpg} - \end{subfigure} - \begin{subfigure}{\subwidth} + \end{minipage} + \begin{minipage}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/2_gt.jpg} + \end{minipage} \end{subfigure} \vspace{0.5em} - \begin{subfigure}{\subwidth} + + \begin{subfigure}{\pagewidth} + \raisebox{-1.5em}{\rotatebox{90}{\small{Anchors}}} + \begin{minipage}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/1_anchor.jpg} - \end{subfigure} - \begin{subfigure}{\subwidth} + \end{minipage} + \begin{minipage}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/2_anchor.jpg} + \end{minipage} \end{subfigure} - \begin{subfigure}{\subwidth} + \begin{subfigure}{\pagewidth} + \begin{minipage}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/1_anchor.jpg} - \end{subfigure} - \begin{subfigure}{\subwidth} + \end{minipage} + \begin{minipage}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/2_anchor.jpg} + \end{minipage} \end{subfigure} \vspace{0.5em} - - \begin{subfigure}{\subwidth} + + \begin{subfigure}{\pagewidth} + \raisebox{-2em}{\rotatebox{90}{\small{Predictions}}} + \begin{minipage}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/1_pred.jpg} - \end{subfigure} - \begin{subfigure}{\subwidth} + \end{minipage} + \begin{minipage}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/2_pred.jpg} + \end{minipage} + \caption{CULane} \end{subfigure} - \begin{subfigure}{\subwidth} + \begin{subfigure}{\pagewidth} + \begin{minipage}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/1_pred.jpg} - \end{subfigure} - \begin{subfigure}{\subwidth} + \end{minipage} + \begin{minipage}{\subwidth} \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/2_pred.jpg} + \end{minipage} + \caption{TuSimple} \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{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} + \begin{subfigure}{\pagewidth} + \rotatebox{90}{\small{GT}} + \begin{minipage}{\subwidth} + \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_gt.jpg} + \end{minipage} + \begin{minipage}{\subwidth} + \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_gt.jpg} + \end{minipage} \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} + \begin{subfigure}{\pagewidth} + \begin{minipage}{\subwidth} + \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_gt.jpg} + \end{minipage} + \begin{minipage}{\subwidth} + \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_gt.jpg} + \end{minipage} \end{subfigure} \vspace{0.5em} - \begin{subfigure}{\subwidth} - \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_anchor.jpg} + \begin{subfigure}{\pagewidth} + \raisebox{-1.5em}{\rotatebox{90}{\small{Anchors}}} + \begin{minipage}{\subwidth} + \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_anchor.jpg} + \end{minipage} + \begin{minipage}{\subwidth} + \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_anchor.jpg} + \end{minipage} \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} + \begin{subfigure}{\pagewidth} + \begin{minipage}{\subwidth} + \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_anchor.jpg} + \end{minipage} + \begin{minipage}{\subwidth} + \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_anchor.jpg} + \end{minipage} \end{subfigure} \vspace{0.5em} - \begin{subfigure}{\subwidth} - \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_pred.jpg} + \begin{subfigure}{\pagewidth} + \raisebox{-2em}{\rotatebox{90}{\small{Predictions}}} + \begin{minipage}{\subwidth} + \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_pred.jpg} + \end{minipage} + \begin{minipage}{\subwidth} + \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_pred.jpg} + \end{minipage} + \caption{LLAMAS} \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} + \begin{subfigure}{\pagewidth} + \begin{minipage}{\subwidth} + \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_pred.jpg} + \end{minipage} + \begin{minipage}{\subwidth} + \includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_pred.jpg} + \end{minipage} + \caption{DL-Rail} \end{subfigure} \vspace{0.5em} - \caption{hhh} + \caption{The Visualization of the detection results of sparse scenarios.} \end{figure*} \section{Conclusion} diff --git a/make.sh b/make.sh index 7a0a483..45d7aa7 100644 --- a/make.sh +++ b/make.sh @@ -1,6 +1,6 @@ # latexmk -c # latexmk -pvc -xelatex -interaction=nonstopmode main.tex -latexmk -quiet -interaction=nonstopmode --pvc -pdf main.tex +latexmk -quiet -interaction=nonstopmode --pvc --pdf main.tex