通过冗余预测提升车道拓扑推理能力,让系统更准确理解车道连接关系。
RATopo: Improving Lane Topology Reasoning via Redundancy Assignment
- 重构Transformer解码器结构,保留冗余车道预测以实现一对多匹配
- 在OpenLane-V2上显著提升车道间与车道-交通元素的拓扑推理准确率
- 方法通用性强,可无缝接入现有框架,适合自动驾驶场景使用
车道拓扑推理在自动驾驶中至关重要,用于建模车道之间的连接关系及车道与交通元素的拓扑关联。现有方法多采用先检测后推理范式,依赖检测阶段的一一对应分配结果进行拓扑监督,导致有效监督范围有限,影响推理性能。本文提出RATopo,一种基于冗余分配的车道拓扑推理策略,实现数量丰富且几何多样化的拓扑监督。具体而言,通过交换Transformer解码器中的交叉注意力与自注意力层,保留抑制前的冗余车道预测,支持有效的多对一分配;同时引入多个独立参数的并行交叉注意力模块,进一步增强检测到的车道多样性。在OpenLane-V2上的大量实验表明,RATopo具有模型无关性,可无缝集成至现有拓扑推理框架,持续提升车道-车道及车道-交通元素的拓扑推理性能。
原文摘要 · Abstract (English)
Lane topology reasoning plays a critical role in autonomous driving by modeling the connections among lanes and the topological relationships between lanes and traffic elements. Most existing methods adopt a first-detect-then-reason paradigm, where topological relationships are supervised based on the one-to-one assignment results obtained during the detection stage. This supervision strategy results in suboptimal topology reasoning performance due to the limited range of valid supervision. In this paper, we propose RATopo, a Redundancy Assignment strategy for lane Topology reasoning that enables quantity-rich and geometry-diverse topology supervision. Specifically, we restructure the Transformer decoder by swapping the cross-attention and self-attention layers. This allows redundant lane predictions to be retained before suppression, enabling effective one-to-many assignment. We also instantiate multiple parallel cross-attention blocks with independent parameters, which further enhances the diversity of detected lanes. Extensive experiments on OpenLane-V2 demonstrate that our RATopo strategy is model-agnostic and can be seamlessly integrated into existing topology reasoning frameworks, consistently improving both lane-lane and lane-traffic topology performance.
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