Separated RoadTopoFormer

Understand

Understanding driving scenarios is crucial to realizing autonomous driving.

• Previous works such as map learning and BEV lane detection neglect the connection relationship between lane instances, and traffic elements detection tasks usually neglect the relationship with lane lines.
• To address these issues, the task is presented which includes 4 sub-tasks, the detection of traffic elements, the detection of lane centerlines, reasoning connection relationships among lanes, and reasoning assignment relationships between lanes and traffic elements.
• We present Separated RoadTopoFormer to tackle the issues, which is an end-to-end framework that detects lane centerline and traffic elements with reasoning relationships among them.