GeoReFormer: Geometry-Aware Refinement for Lane Segment Detection and Topology Reasoning
Accurate 3D lane segment detection and topology reasoning are critical for structured online map construction in autonomous driving. Recent transformer-based approaches formulate this task as query-based set prediction, yet largely inherit decoder designs originally developed for compact object detection. However, lane segments are continuous polylines embedded in directed graphs, and generic query initialization and unconstrained refinement do not explicitly encode this geometric and relational structure. We propose GeoReFormer (Geometry-aware Refinement Transformer), a unified query-based architecture that embeds geometry- and topology-aware inductive biases directly within the transfor...
| Authors | Danny Abraham, Nikhil Kamalkumar Advani, Arun Das et al. |
|---|---|
| Primary category | cs.CV |
| Published | 27 March 2026 |
| Last updated at source | 27 March 2026 |
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