CaT: Cyclic-Accumulation Transformer for Lane Detection.

Lane detection is a special task in autonomous driving. Its most prominent inherent feature is to learn the imagination of severely occluded objects. Traditional CNN-based networks learning the imagination tend to perform poorly. In this work, we propose a novel architecture, called Cycle_accumulation-Transformer (CaT), which is the first structure to handle the lane detection by fusing CNN and Transformer. In particular, Cycle_accumulation structure and Transformer structure complement each other, and they adopt the four-direction cyclic accumulation process of "up to down", "down to up", "left to right" and "right to left" in the convolutional mode and the self-attention mechanism of "QKV" to fuse global information respectively. Our method is based on pixel-level semantic segmentation with high detection accuracy while meeting real-time requirements. Moreover, our proposed method achieves state-of-the-art results on the Tusimple and also achieves competitive results on the CULane.