홈 › Papers

TopoBDA: Towards Bezier Deformable Attention for Road Topology Understanding

Understanding road topology is crucial for autonomous driving. This paper introduces TopoBDA (Topology with Bezier Deformable Attention), a novel approach that enhances road topology comprehension by leveraging Bezier Deformable Attention (BDA). TopoBDA processes multi-camera 360-degree imagery to generate Bird's Eye View (BEV) features, which are refined through a transformer decoder employing BDA. BDA utilizes Bezier control points to drive the deformable attention mechanism, improving the detection and representation of elongated and thin polyline structures, such as lane centerlines. Additionally, TopoBDA integrates two auxiliary components: an instance mask formulation loss and a one-to-many set prediction loss strategy, to further refine centerline detection and enhance road topology understanding. Experimental evaluations on the OpenLane-V2 dataset demonstrate that TopoBDA outperforms existing methods, achieving state-of-the-art results in centerline detection and topology reasoning. TopoBDA also achieves the best results on the OpenLane-V1 dataset in 3D lane detection. Further experiments on integrating multi-modal data -- such as LiDAR, radar, and SDMap -- show that multimodal inputs can further enhance performance in road topology understanding.

Code (0)

등록된 구현이 없습니다.

Tasks

Methods 이 논문이 사용한 방법론

Similar Papers 제목 키워드 기반