Lane Detection Based on Adaptive Network of Receptive Field

Table 18

Structure 1.

Layer	Type	Output-size
1	Conv	216 × 800 × 64
2	Maxpool	108 × 400 × 64
3	A-conv(r = 3)	108 × 400 × 64
4	Conv	108 × 400 × 128
5	Maxpool	54 × 200 × 128
6	A-conv(r = 3)	54 × 200 × 128
7	Conv	54 × 200 × 256
8	Maxpool	27 × 100 × 256
9	A-conv(r = 3)	27 × 100 × 256
10	Conv	27 × 100 × 512
11	Conv	27 × 100 × 512
12	Conv	27 × 100 × 512
13	Conv	27 × 100 × 512
14	Conv	27 × 100 × 128
15	Conv	27 × 100 × 5
16	Upsample	216 × 800 × 5