用语义感知图网络提升单车视角转向估计精度

Steering estimation is a critical task in autonomous driving, traditionally relying on 2D image-based models. In this work, we explore the advantages of incorporating 3D spatial information through hybrid architectures that combine 3D neural network models with recurrent neural networks (RNNs) for temporal modeling, using LiDAR-based point clouds as input. We systematically evaluate four hybrid 3D models, all of which outperform the 2D-only baseline, with the Graph Neural Network (GNN) - RNN model yielding the best results. To reduce reliance on LiDAR, we leverage a pretrained unified model to estimate depth from monocular images, reconstructing pseudo-3D point clouds. We then adapt the GNN-RNN model, originally designed for LiDAR-based point clouds, to work with these pseudo-3D representations, achieving comparable or even superior performance compared to the LiDAR-based model. Additionally, the unified model provides semantic labels for each point, enabling a more structured scene representation. To further optimize graph construction, we introduce an efficient connectivity strategy where connections are predominantly formed between points of the same semantic class, with only 20\% of inter-class connections retained. This targeted approach reduces graph complexity and computational cost while preserving critical spatial relationships. Finally, we validate our approach on the KITTI dataset, achieving a 71% improvement over 2D-only models. Our findings highlight the advantages of 3D spatial information and efficient graph construction for steering estimation, while maintaining the cost-effectiveness of monocular images and avoiding the expense of LiDAR-based systems.