{"paper":{"title":"TopoPoint: Enhance Topology Reasoning via Endpoint Detection in Autonomous Driving","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Feng Dai, Tianyu Li, Xinyuan Liu, Yanping Fu, Yike Ma, Yucheng Zhang","submitted_at":"2025-05-23T11:42:54Z","abstract_excerpt":"Topology reasoning, which unifies perception and structured reasoning, plays a vital role in understanding intersections for autonomous driving. However, its performance heavily relies on the accuracy of lane detection, particularly at connected lane endpoints. Existing methods often suffer from lane endpoints deviation, leading to incorrect topology construction. To address this issue, we propose TopoPoint, a novel framework that explicitly detects lane endpoints and jointly reasons over endpoints and lanes for robust topology reasoning. During training, we independently initialize point and "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.17771","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2505.17771/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}