Lane Marker Detection Based on Multihead Self-Attention

Table 3

Ablation study results on the TuSimple dataset.

Model	Accuracy (%)	FP	FN
2-head self-attention	95.76	0.0407	0.0301
4-head self-attention	95.55	0.0339	0.0329
6-head self-attention	95.43	0.0350	0.0335
8-head self-attention	95.49	0.0414	0.0311