Lane Marker Detection Based on Multihead Self-Attention

Table 4

Ablation study results on the CULane dataset.

Model	TP	FP	FN	Precision (%)	Recall (%)	F1 (%)
2-head self-attention	72766	15281	32120	82.64	69.37	75.43
4-head self-attention	72636	14839	32250	83.03	69.25	75.52
8-head self-attention	72649	14762	32237	83.11	69.26	75.55