A Real-Time Complex Road AI Perception Based on 5G-V2X for Smart City Security

Table 1

Lane detection results on TuSimple dataset.

Method	IoU	Runtime (s)
FCN [36]	0.76	0.20
VPGNet [26]	0.89	0.41
LaneNet [37]	0.91	0.62
SCNN [38]	0.94	0.21
Ours	0.95	0.15