The task of lane detection has garnered considerable attention in the field of autonomous driving due to its complexity. Lanes can present difficulties for detection, as they can be narrow, fragmented, and often obscured by heavy traffic. However, it has been observed that the lanes have a geometrical structure that resembles a straight line, leading to improved lane detection results when utilizing this characteristic. To address this challenge, we propose a hierarchical Deep Hough Transform (DHT) approach that combines all lane features in an image into the Hough parameter space. Additionally, we refine the point selection method and incorporate a Dynamic Convolution Module to effectively differentiate between lanes in the original image. Our network architecture comprises a backbone network, either a ResNet or Pyramid Vision Transformer, a Feature Pyramid Network as the neck to extract multi-scale features, and a hierarchical DHT-based feature aggregation head to accurately segment each lane. By utilizing the lane features in the Hough parameter space, the network learns dynamic convolution kernel parameters corresponding to each lane, allowing the Dynamic Convolution Module to effectively differentiate between lane features. Subsequently, the lane features are fed into the feature decoder, which predicts the final position of the lane. Our proposed network structure demonstrates improved performance in detecting heavily occluded or worn lane images, as evidenced by our extensive experimental results, which show that our method outperforms or is on par with state-of-the-art techniques.

我们提出了一种基于深度Hough变换和动态卷积模块的网络架构，用于检测道路车道，通过在Hough参数空间中将车道特征结合起来并利用动态卷积模块有效区分车道特征，实验结果表明我们的方法在检测重度遮挡或磨损车道图像方面表现出了优异的性能。

HoughLaneNet：深度霍夫变换与动态卷积的车道检测