Hierarchical Road Topology Learning for Urban Map-less Driving

Understand

The majority of current approaches in autonomous driving rely on High-Definition (HD) maps which detail the road geometry and surrounding area.

• Yet, this reliance is one of the obstacles to mass deployment of autonomous vehicles due to poor scalability of such prior maps.
• In this paper, we tackle the problem of online road map extraction via leveraging the sensory system aboard the vehicle itself.
• To this end, we design a structured model where a graph representation of the road network is generated in a hierarchical fashion within a fully convolutional network.