Using crowdsourced trajectory heatmaps and vectorized tokens as fusion priors improves lane segment mAP from 32.30 to 42.30 and topology score from 25.40 to 34.65 on OpenLane-V2.
Structured bird’s-eye-view traffic scene understanding from onboard images,
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Enhancing Lane Segment Perception and Topology Reasoning with Crowdsourcing Trajectory Priors
Using crowdsourced trajectory heatmaps and vectorized tokens as fusion priors improves lane segment mAP from 32.30 to 42.30 and topology score from 25.40 to 34.65 on OpenLane-V2.