The 1st-place Solution for CVPR 2023 OpenLane Topology in Autonomous Driving Challenge

Autor:	Wu, Dongming, Jia, Fan, Chang, Jiahao, Li, Zhuoling, Sun, Jianjian, Han, Chunrui, Li, Shuailin, Liu, Yingfei, Ge, Zheng, Wang, Tiancai
Rok vydání:	2023
Předmět:	Computer Science - Computer Vision and Pattern Recognition
Druh dokumentu:	Working Paper
Popis:	We present the 1st-place solution of OpenLane Topology in Autonomous Driving Challenge. Considering that topology reasoning is based on centerline detection and traffic element detection, we develop a multi-stage framework for high performance. Specifically, the centerline is detected by the powerful PETRv2 detector and the popular YOLOv8 is employed to detect the traffic elements. Further, we design a simple yet effective MLP-based head for topology prediction. Our method achieves 55\% OLS on the OpenLaneV2 test set, surpassing the 2nd solution by 8 points. Comment: Accepted by CVPR2023 Workshop (https://opendrivelab.com/AD23Challenge.html#openlane_topology)
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2306.09590 Zobrazit plný text záznamu View this record from Arxiv