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Published at November 22

TopoSD: 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.

Arxiv: http://arxiv.org/abs/2411.14751v1

Refer to caption

Method	SDMap Encoder	Epoch	mAP	AP_ls	AP_ped	TOP_lsls
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)