Unified Modeling of Lane and Lane Topology for Driving Scene Reasoning
Autonomous vehicles need to perceive not only physical elements in the driving scene, such as lane lines and traffic lights, but also logical elements like lane centerlines and their topology. Existing lane topology reasoning methods typically follow a reasoning-by-detection paradigm, where lane topological relationships are primarily derived from lane detection results. In this paper, we propose an innovative method called Unified Modeling of Lane and Lane Topology (UniTopo), which represents the topological relationships between lanes as connected lanes, encompassing predecessor lanes, successor lanes, and their interconnections. This unified representation of lanes and lane topology al...
| Authors | Han Li, Yulu Gao, Si Liu et al. |
|---|---|
| Primary category | cs.CV |
| Published | 9 May 2026 |
| Last updated at source | 9 May 2026 |
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