notesum.ai
Published at November 22TopoSD: Topology-Enhanced Lane Segment Perception with SDMap Prior
cs.CV
cs.AI
cs.RO
Released Date: November 22, 2024
Authors: Sen Yang1, Minyue Jiang1, Ziwei Fan1, Xiaolu Xie1, Xiao Tan1, Yingying Li1, Errui Ding1, Liang Wang1, Jingdong Wang1
Aff.: 1Baidu Inc.

| Method | SDMap Encoder | Epoch | mAP | APls | APped | TOPlsls |
| TopoNet (Li et al., 2023) | - | 24 | 23.0 | 23.9 | 22.0 | - |
| MapTRv2 (Liao et al., 2023b) | - | 24 | 28.5 | 26.6 | 30.4 | - |
| LaneSegNet (Li et al., 2024) | - | 24 | 33.5 | 32.0 | 34.9 | 25.4 |
| LaneSegNet + SMERF (Luo et al., 2023) | Transformer | 24 | 37.1 | 37.2 | 36.9 | 30.5 |
| LaneSegNet + P-MapNet (SD cross-attn.) (Jiang et al., 2024) | OSM CNN | 24 | 30.0 | 29.2 | 30.8 | 25.1 |
| LaneSegNet + P-MapNet (SD cross-attn.) (Jiang et al., 2024) | ResNet-18 | 24 | 33.2 | 32.6 | 33.9 | 28.3 |
| Ours-1 (LaneSegNet + Spatial Enc. + Tokenization) | ResNet-18+Transformer | 24 | 39.9 (+6.4) | 37.8 (+5.8) | 41.9 (+7.0) | 32.0 (+6.6) |
| Ours-2 (LaneSegNet + Spatial Enc. + Tokenization + TGD) | ResNet-18+Transformer | 24 | 40.2 (+6.7) | 38.6 (+6.6) | 41.7 (+6.8) | 34.5 (+9.1) |