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This paper aims to focus on lane detection of unmanned mobile robots. For the mobile robot, it is undesirable to spend lots of time detecting the lane. So quickly detecting the lane in a complex environment such as poor illumination and shadows becomes a challenge.

A new learning framework based on an integration of extreme learning machine (ELM) and an inception structure named multiscale ELM is proposed, making full use of the advantages that ELM has faster convergence and convolutional neural network could extract local features in different scales. The proposed architecture is divided into two main components: self-taught feature extraction by ELM with the convolution layer and bottom-up information classification based on the feature constraint. To overcome the disadvantages of poor performance under complex conditions such as shadows and illumination, this paper mainly solves four problems: local features learning: replaced the fully connected layer, the convolutional layer is used to extract local features; feature extraction in different scales: the integration of ELM and inception structure improves the parameters learning speed, but it also achieves spatial interactivity in different scales; and the validity of the training database: a method how to find a training data set is proposed.

Experimental results on various data sets reveal that the proposed algorithm effectively improves performance under complex conditions. In the actual environment, experimental results tested by the robot platform named BIT-NAZA show that the proposed algorithm achieves better performance and reliability.

This research can provide a theoretical and engineering basis for lane detection on unmanned robots.

This paper aims to focus on the environmental perception of unmanned platform under complex street scenes. Unmanned platform has a strict requirement both on accuracy and inference speed. So how to make a trade-off between accuracy and inference speed during the extraction of environmental information becomes a challenge.

In this paper, a novel multi-scale depth-wise residual (MDR) module is proposed. This module makes full use of depth-wise separable convolution, dilated convolution and 1-dimensional (1-D) convolution, which is able to extract local information and contextual information jointly while keeping this module small-scale and shallow. Then, based on MDR module, a novel network named multi-scale depth-wise residual network (MDRNet) is designed for fast semantic segmentation. This network could extract multi-scale information and maintain feature maps with high spatial resolution to mitigate the existence of objects at multiple scales.

Experiments on Camvid data set and Cityscapes data set reveal that the proposed MDRNet produces competitive results both in terms of computational time and accuracy during inference. Specially, the authors got 67.47 and 68.7% Mean Intersection over Union (MIoU) on Camvid data set and Cityscapes data set, respectively, with only 0.84 million parameters and quicker speed on a single GTX 1070Ti card.

This research can provide the theoretical and engineering basis for environmental perception on the unmanned platform. In addition, it provides environmental information to support the subsequent works.