TopoFormer builds lane-scene graphs with geometric and counterfactual attention and reports a state-of-the-art 46.3 OLS on OpenLane-V2, though part of its topology score comes from a class-equality rule.
Topology preserving local road network estimation from sin- gle onboard camera image
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T2SG: Traffic Topology Scene Graph for Topology Reasoning in Autonomous Driving
TopoFormer builds lane-scene graphs with geometric and counterfactual attention and reports a state-of-the-art 46.3 OLS on OpenLane-V2, though part of its topology score comes from a class-equality rule.