基于多尺度特征图像分割的车道线提取方法

汪鹏飞, 沈庆宏, 张维利, 董文杰, 陈红梅

Lane extraction method based on multi⁃scale feature image segmentation

Pengfei Wang, Qinghong Shen, Weili Zhang, Wenjie Dong, Hongmei Chen

图2 Transformer 和MSA的传播过程

Fig.2 Transformer and MSA propagation process