用SD地图先验提升高精地图中车道线与区域检测效果
ImagineMap: Enhanced HD Map Construction with SD Maps
- 结合SD地图先验，分感知与推理两阶段建模
- 车道线与区域检测性能显著提升，拓扑关系更准确
- 适合自动驾驶高精地图构建，对感知精度要求高的场景
Track Mapless 要求模型处理多视角图像和标准清晰度（SD）地图，输出车道线与交通元素的感知结果及其拓扑关系。我们提出一种新架构，融合SD地图先验以提升车道线与区域检测性能。受TopoMLP启发，模型采用两阶段结构：感知与推理。下游拓扑头依赖上游检测头的输出，因此检测精度的提升能显著增强下游表现。
原文摘要 · Abstract (English)
Track Mapless demands models to process multi-view images and Standard-Definition (SD) maps, outputting lane and traffic element perceptions along with their topological relationships. We propose a novel architecture that integrates SD map priors to improve lane line and area detection performance. Inspired by TopoMLP, our model employs a two-stage structure: perception and reasoning. The downstream topology head uses the output from the upstream detection head, meaning accuracy improvements in detection significantly boost downstream performance.
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