Overview

Results

ApolloScape Lane Segmentation validation set

Record 001-007

depth threshold 15m

without depth threshold

frame001-007fps10dth15.mp4

frame001-007fps10.mp4

map001-007fps10dth15.mp4

map001-007fps10.mp4

depth threshold 15m with local BA (optimize road marking points according to optimized keyframes, road markings are not involved in BA)

depth threshold 15m with local BA, global BA(loop closing), (optimize road marking points according to optimized keyframes, road markings are not involved in BA)

frame001-007fps10dth15localBA.mp4

frame001-007fps10dth15localBA_LC.mp4

map001-007fps10dth15localBA.mp4

map001-007fps10dth15localBA_LC.mp4

Record 015-016

depth threshold 15m

without depth threshold

frame015-016fps10dth15.mp4

frame015-016fps10.mp4

map015-016fps10dth15.mp4

with local BA (optimize road marking points according to optimized keyframes, road markings are not involved in BA)

frame015-016fps10dth15localBA.mp4

map015-016fps10dth15localBA.mp4

map015-016fps10.mp4