TopoMaskV3 adds dense offset and height heads to produce standalone 3D road centerlines from masks and reports 28.5 OLS on a new geographically disjoint long-range benchmark.
TopoSD: Topology-Enhanced Lane Segment Percep- tion with SDMap Prior.arXiv preprint arXiv:2411.14751
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TopoHR introduces hierarchical point/instance/semantic queries and a unified P2I+I2I topology module that reports SOTA gains on OpenLane-V2 subsets.
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