TopoCurve: Geometry-Aware Topology Reasoning via Bézier Curves in Autonomous Driving
Topology reasoning jointly detects 3D lanes and traffic elements from multi-view images and infers their structural connectivity. Current methods model lanes as discrete polylines, lacking smoothness, analytical tangent directions, and global spatial support for attention, while providing sparse topology supervision. We propose TopoCurve, a geometry-driven architecture for 3D topology reasoning grounded in a structured parametric lane representation. Lanes are modeled as endpoint-fixed cubic Bézier curves, enabling continuous geometry with exact endpoints and analytically defined directionality. We exploit this shared curve geometry across the entire pipeline. Endpoint distance and tangen...
| Authors | Mihai Bogdan Deaconu, Laura Dioşan |
|---|---|
| Primary category | cs.CV |
| Published | 6 October 2026 |
| Last updated at source | 6 October 2026 |
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