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Enhancing 3D Lane Detection and Topology Reasoning with 2D Lane Priors

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arxiv 2406.03105 v1 pith:PDOKVY6U submitted 2024-06-05 cs.CV

Han Li , Zehao Huang , Zitian Wang , Wenge Rong , Naiyan Wang , Si Liu This is my paper · ORCID
classification cs.CV
keywords lanereasoningtopologydetectionbenchmarkcenterlineselementsexplicitly
verification ladder T0 review T1 audit T2 compute T3 formal
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3D lane detection and topology reasoning are essential tasks in autonomous driving scenarios, requiring not only detecting the accurate 3D coordinates on lane lines, but also reasoning the relationship between lanes and traffic elements. Current vision-based methods, whether explicitly constructing BEV features or not, all establish the lane anchors/queries in 3D space while ignoring the 2D lane priors. In this study, we propose Topo2D, a novel framework based on Transformer, leveraging 2D lane instances to initialize 3D queries and 3D positional embeddings. Furthermore, we explicitly incorporate 2D lane features into the recognition of topology relationships among lane centerlines and between lane centerlines and traffic elements. Topo2D achieves 44.5% OLS on multi-view topology reasoning benchmark OpenLane-V2 and 62.6% F-Socre on single-view 3D lane detection benchmark OpenLane, exceeding the performance of existing state-of-the-art methods.

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Cited by 4 Pith papers

Reviewed papers in the Pith corpus that reference this work. Sorted by Pith novelty score. Full citation record

  1. HGeo-TopoMap: Boosting Topological Mapping with Hierarchical Geometric Priors

    cs.CV 2026-07 conditional novelty 6.0 of 10

    HGeo-TopoMap injects explicit road-structure maps and implicit geometric relations into a DETR-style detector, improving top-down centerline mapping and topology reasoning on OpenLane-V2.

  2. Coherent Online Road Topology Estimation and Reasoning with Standard-Definition Maps

    cs.CV 2025-07 conditional novelty 6.0 of 10

    Score jointly detects lane segments, road boundaries, and traffic elements, estimates lane topology, and associates traffic elements with lanes, using SD map priors and temporal fusion to reach state-of-the-art on Ope...

  3. Topo2Seq: Enhanced Topology Reasoning via Topology Sequence Learning

    cs.CV 2025-02 conditional novelty 6.0 of 10

    Topo2Seq adds a training-only topology sequence decoder with randomized key-point prompts to a lane segment DETR decoder, improving lane topology reasoning on OpenLane-V2.

  4. SMART: Advancing Scalable Map Priors for Driving Topology Reasoning

    cs.CV 2025-02 conditional novelty 6.0 of 10

    A sensor-free map prior learned from SD and satellite maps at scale improves online lane topology reasoning.

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