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main.tex
215
main.tex
@ -17,6 +17,7 @@
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\usepackage{amssymb}
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\usepackage{booktabs}
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\usepackage{tikz}
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\usepackage{tabularx}
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\usepackage[table,xcdraw]{xcolor}
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\usepackage[colorlinks,bookmarksopen,bookmarksnumbered, linkcolor=red]{hyperref}
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@ -163,6 +164,41 @@ This paper aims to address the two issue mentioned above (reducing anchors numbe
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\section{Method}
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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.).
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\begin{table}[h]
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\centering
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\caption{Notations of some important variable}
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\begin{adjustbox}{width=\linewidth}
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\begin{tabular}{lll}
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\toprule
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\textbf{Variable} & \textbf{Type} & \hspace{10em}\textbf{Defination} \\
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\midrule
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\textbf{P}_{i} & tensor& The $i_{th}$ output feature map from FPN\\
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H^{local}& scalar& The height of the local polar map\\
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W^{local}& scalar& The weight of the local polar map\\
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K_{a} & scalar& The number of anchors selected during evaluation\\
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c^{global}& scalar& The radius of lane anchor under global polar coordinate\\
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c^{local}& scalar& The radius under local polar coordinate\\
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r^{global}_{i}& scalar& The $i_{th}$ anchor radius under global polar coordinate\\
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\theta^{global}_{i}& scalar& The $i_{th}$ anchor angle under global polar coordinate\\
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r^{local}_{i}& scalar& The $i_{th}$ anchor radius under global polar coordinate\\
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\theta^{local}_{i}& scalar& The $i_{th}$ anchor angle under global polar coordinate\\
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\midrule
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\textbf{X}^{pool}_{i}& tensor& The pooling feature of the $i_{th}$ anchor\\
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N^{nbr}_{i}& set& The adjacent node set of the $i_{th}$ of anchor node\\
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C_{O2M} & scalar& The positive threshold of one-to-many confidence\\
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C_{O2O} & scalar& The positive threshold of one-to-one confidence\\
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\midrule
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& & \\
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& & \\
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& & \\
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& & \\
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& & \\
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\bottomrule
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\end{tabular}
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\end{adjustbox}
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\end{table}
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\begin{figure*}[t]
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\centering
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\includegraphics[width=\linewidth]{thsis_figure/ovarall_architecture.png} % 替换为你的图片文件名
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@ -347,28 +383,34 @@ In the testing stage, anchors with the top-$k_{l}$ confidence are the chosed as
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\toprule
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\multicolumn{2}{c|}{\textbf{Dataset}} & CULane & TUSimple & LLAMAS & DL-Rail & Curvelanes \\
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\midrule
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\multirow{7}*{Data info}
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& Train &3,268 &88,880&58,269&5,435&100,000\\
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\multirow{7}*{Dataset Description}
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& Train &88,880/$55,698^{*}$&3,268 &58,269&5,435&100,000\\
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& Validation &9,675 &358 &20,844&- &20,000 \\
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& Test &34,680&2,782 &20,929&1,569&- \\
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& Resolution &1640\times590&1280\times720&1276\times717&1920\times1080&2560\times1440, etc\\
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& Lane &\leqslant4&\leqslant5&\leqslant4&=2&\leqslant10\\
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& Environment &urban and highway & highway&highway&Railay&urban and highway\\
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& Property &sparse&sparse&sparse&sparse&sparse and dense\\
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& Environment &urban and highway & highway&highway&railay&urban and highway\\
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& Distribution &sparse&sparse&sparse&sparse&sparse and dense\\
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\midrule
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\multirow{1}*{Data Preprocess}
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& Crop Height &270&160&300&560&640, etc\\
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\midrule
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\multirow{8}*{Hyper Parameter}
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\multirow{6}*{Training Parameter}
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& Epoch Number &32&70&20&90&32\\
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& Batch Size &40&24&32&40&40\\
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& Warm up iterations &800&200&800&400&800\\
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& Aux Loss &0.2&0 &0.2&0.2&0.2\\
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& Rank Loss &0.7&0.7&0.1&0.7&0 \\
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& Aux loss &0.2&0 &0.2&0.2&0.2\\
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& Rank loss &0.7&0.7&0.1&0.7&0 \\
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\midrule
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\multirow{4}*{Evaluation Parameter}
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& Polar map size &4\times10&4\times10&4\times10&4\times10&6\times13\\
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& Top anchor selection &20&20&20&12&50\\
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& O2M conf thres &0.48&0.40&0.40&0.40&0.45\\
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& O2O conf thres &0.46&0.46&0.46&0.46&0.44\\
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& Eval split &Test&Test&Test&Test&Validation\\
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& Vis split &Test&Test&Validation&Test&Validation\\
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\midrule
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\multirow{2}*{Dataset Split}
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& Evaluation &Test&Test&Test&Test&Val\\
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& Visualization &Test&Test&Val&Test&Val\\
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\bottomrule
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\end{tabular}
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\end{adjustbox}
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@ -770,18 +812,17 @@ In the testing stage, anchors with the top-$k_{l}$ confidence are the chosed as
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\end{subfigure}
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\vspace{0.5em}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_gt.jpg}
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\caption{GT}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_pred50.jpg}
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\caption{NMS50}
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\caption{NMS@50}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_pred15.jpg}
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\caption{NMS15}
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\caption{NMS@15}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_nms/all2_nmsfree.jpg}
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@ -789,108 +830,142 @@ In the testing stage, anchors with the top-$k_{l}$ confidence are the chosed as
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\end{subfigure}
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\vspace{0.5em}
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\caption{hhh}
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\caption{The Visualization of the detection results of sparse scenarios.}
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\end{figure*}
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\begin{figure*}[htbp]
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\centering
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\def\subwidth{0.24\textwidth}
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\def\pagewidth{0.49\textwidth}
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\def\subwidth{0.47\linewidth}
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\def\imgwidth{\linewidth}
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\def\imgheight{0.5625\linewidth}
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\def\dashheight{0.8\linewidth}
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\begin{subfigure}{\subwidth}
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\begin{subfigure}{\pagewidth}
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\rotatebox{90}{\small{GT}}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/1_gt.jpg}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\end{minipage}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/2_gt.jpg}
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\end{minipage}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\begin{subfigure}{\pagewidth}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/1_gt.jpg}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\end{minipage}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/2_gt.jpg}
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\end{minipage}
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\end{subfigure}
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\vspace{0.5em}
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\begin{subfigure}{\subwidth}
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\begin{subfigure}{\pagewidth}
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\raisebox{-1.5em}{\rotatebox{90}{\small{Anchors}}}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/1_anchor.jpg}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\end{minipage}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/2_anchor.jpg}
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\end{minipage}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\begin{subfigure}{\pagewidth}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/1_anchor.jpg}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\end{minipage}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/2_anchor.jpg}
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\end{minipage}
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\end{subfigure}
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\vspace{0.5em}
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\begin{subfigure}{\subwidth}
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\begin{subfigure}{\pagewidth}
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\raisebox{-2em}{\rotatebox{90}{\small{Predictions}}}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/1_pred.jpg}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\end{minipage}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/culane/2_pred.jpg}
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\end{minipage}
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\caption{CULane}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\begin{subfigure}{\pagewidth}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/1_pred.jpg}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\end{minipage}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/tusimple/2_pred.jpg}
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\end{minipage}
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\caption{TuSimple}
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\end{subfigure}
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\vspace{0.5em}
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\begin{tikzpicture}
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\draw[dashed, pattern=on 8pt off 2pt, color=gray, line width=1pt] (-\textwidth/2,0) -- (\textwidth/2,0);
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\end{tikzpicture}
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\vspace{0.05em}
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% \begin{tikzpicture}
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% \draw[dashed, pattern=on 8pt off 2pt, color=gray, line width=1pt] (-\textwidth/2,0) -- (\textwidth/2.,0);
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% \end{tikzpicture}
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% \vspace{0.05em}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_gt.jpg}
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\begin{subfigure}{\pagewidth}
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\rotatebox{90}{\small{GT}}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_gt.jpg}
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\end{minipage}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_gt.jpg}
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\end{minipage}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_gt.jpg}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_gt.jpg}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_gt.jpg}
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\begin{subfigure}{\pagewidth}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_gt.jpg}
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\end{minipage}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_gt.jpg}
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\end{minipage}
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\end{subfigure}
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\vspace{0.5em}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_anchor.jpg}
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\begin{subfigure}{\pagewidth}
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\raisebox{-1.5em}{\rotatebox{90}{\small{Anchors}}}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_anchor.jpg}
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\end{minipage}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_anchor.jpg}
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\end{minipage}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_anchor.jpg}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_anchor.jpg}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_anchor.jpg}
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\begin{subfigure}{\pagewidth}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_anchor.jpg}
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\end{minipage}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_anchor.jpg}
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\end{minipage}
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\end{subfigure}
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\vspace{0.5em}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_pred.jpg}
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\begin{subfigure}{\pagewidth}
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\raisebox{-2em}{\rotatebox{90}{\small{Predictions}}}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/1_pred.jpg}
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\end{minipage}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_pred.jpg}
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\end{minipage}
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\caption{LLAMAS}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/llamas/2_pred.jpg}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_pred.jpg}
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\end{subfigure}
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\begin{subfigure}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_pred.jpg}
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\begin{subfigure}{\pagewidth}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/1_pred.jpg}
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\end{minipage}
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\begin{minipage}{\subwidth}
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\includegraphics[width=\imgwidth, height=\imgheight]{thsis_figure/view_dataset/dlrail/2_pred.jpg}
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\end{minipage}
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\caption{DL-Rail}
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\end{subfigure}
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\vspace{0.5em}
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\caption{hhh}
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\caption{The Visualization of the detection results of sparse scenarios.}
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\end{figure*}
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\section{Conclusion}
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