Repainting and Imitating Learning for Lane Detection

Current lane detection methods are struggling with the invisibility lane issue caused by heavy shadows, severe road mark degradation, and serious vehicle occlusion. As a result, discriminative lane features can be barely learned by the network despite elaborate designs due to the inherent invisibility of lanes in the wild. In this paper, we target at finding an enhanced feature space where the lane features are distinctive while maintaining a similar distribution of lanes in the wild. To achieve this, we propose a novel Repainting and Imitating Learning (RIL) framework containing a pair of teacher and student without any extra data or extra laborious labeling. Specifically, in the repainting step, an enhanced ideal virtual lane dataset is built in which only the lane regions are repainted while non-lane regions are kept unchanged, maintaining the similar distribution of lanes in the wild. The teacher model learns enhanced discriminative representation based on the virtual data and serves as the guidance for a student model to imitate. In the imitating learning step, through the scale-fusing distillation module, the student network is encouraged to generate features that mimic the teacher model both on the same scale and cross scales. Furthermore, the coupled adversarial module builds the bridge to connect not only teacher and student models but also virtual and real data, adjusting the imitating learning process dynamically. Note that our method introduces no extra time cost during inference and can be plug-and-play in various cutting-edge lane detection networks. Experimental results prove the effectiveness of the RIL framework both on CULane and TuSimple for four modern lane detection methods. The code and model will be available soon.