A panoptic driving perception system is an essential part of autonomous driving. A high-precision and real-time perception system can assist the vehicle in making the reasonable decision while driving. We present a panoptic driving perception network (YOLOP) to perform traffic object detection, drivable area segmentation and lane detection simultaneously. It is composed of one encoder for feature extraction and three decoders to handle the specific tasks. Our model performs extremely well on the challenging BDD100K dataset, achieving state-of-the-art on all three tasks in terms of accuracy and speed. Besides, we verify the effectiveness of our multi-task learning model for joint training via ablative studies.
In this work, we generalize the reaction-diffusion equation in statistical physics, Schrödinger equation in quantum mechanics, Helmholtz equation in paraxial optics into the neural partial differential equations (NPDE), which can be considered as the fundamental equations in the field of artificial intelligence research