Table 3. Ablation studies were conducted on different stages of the pyramid network.
Pi represents the ith fusion feature map in the network, and “with P-FPN” indicates the results using our proposed proportional feature pyramid network. Bold numbers are the best results.
| Settings | F1 in CULane (%) | F1 in TuSimple (%) | Accuracy in TuSimple (%) |
|---|---|---|---|
| P3 → P2 | 79.12 | 96.80 | 95.92 |
| P3 → P2 with P-FPN | 79.23 | 97.02 | 96.14 |
| P2 → P1 | 79.19 | 97.01 | 96.21 |
| P2 → P1 with P-FPN | 79.34 | 97.24 | 96.44 |
| P3 → P2 → P1 | 79.58 | 97.89 | 96.84 |
| P3 → P2 → P1 with P-FPN | 79.86 | 98.01 | 96.91 |