CompleteInst: An Efficient Instance Segmentation Network for Missed Detection Scene of Autonomous Driving

Abstract

As a fundamental computer vision task, instance segmentation is widely used in the field of autonomous driving because it can perform both instance-level distinction and pixel-level segmentation. We propose CompleteInst based on QueryInst as a solution to the problems of missed detection with a network structure designed from the feature level and the instance level. At the feature level, we propose Global Pyramid Networks (GPN) to collect global information of missed instances. Then, we introduce the semantic branch to complete the semantic features of the missed instances. At the instance level, we implement the query-based optimal transport assignment (OTA-Query) sample allocation strategy which enhances the quality of positive samples of missed instances. Both the semantic branch and OTA-Query are parallel, meaning that there is no interference between stages, and they are compatible with the parallel supervision mechanism of QueryInst. We also compare their performance to that of non-parallel structures, highlighting the superiority of the proposed parallel structure. Experiments were conducted on the Cityscapes and COCO dataset, and the recall of CompleteInst reached 56.7% and 54.2%, a 3.5% and 3.2% improvement over the baseline, outperforming other methods.

Keywords

• computer vision
• autonomous driving
• instance segmentation
• missed detection