We present a panoptic driving perception network (YOLOP) to perform traffic object detection, drivable area segmentation and lane detection simultaneously. It is composed of one encoder for feature extraction and three decoders to handle the specific tasks. Our model performs extremely well on the challenging BDD100K dataset, achieving state-of-the-art on all three tasks in terms of accuracy and speed.

2021: Dong Wu, Manwen Liao, Weitian Zhang, Xinggang Wang

https://arxiv.org/pdf/2108.11250v2.pdf