RESUMEN
Lane detection under extreme conditions presents a highly challenging task that requires capturing each crucial pixel to predict the complex topology of lane lines and differentiate the various lane types. Existing methods predominantly rely on deep feature extraction networks with substantial parameters or the fusion of multiple prediction modules, resulting in large model sizes, embedding difficulties, and slow detection speeds. This article proposes a Proportional Feature Pyramid Network (P-FPN) through fusing the weights into the FPN for lane detection. For obtaining a more accurately detecting result, the cross refinement block is introduced in the P-FPN network. The cross refinement block takes the feature maps and anchors as inputs and gradually refines the anchors from high to low level feature maps. In our method, the high-level features are explored to predict lanes coarsely while local-detailed features are leveraged to improve localization accuracy. Extensive experiments on two widely used lane detection datasets, The Chinese Urban Scene Benchmark for Lane Detection (CULane) and the TuSimple Lane Detection Challenge (TuSimple) datasets, demonstrate that the proposed method achieves competitive results compared with several state-of-the-art approaches.