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[ICLR2024] TopoMLP: A Simple yet Strong Pipeline for Driving Topology Reasoning

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TopoMLP: A Simple yet Strong Pipeline for Driving Topology Reasoning

TopoMLP: A Simple yet Strong Pipeline for Driving Topology Reasoning

Dongming Wu, Jiahao Chang, Fan Jia, Yingfei Liu, Tiancai Wang, Jianbing Shen

TL;DR

TopoMLP is the 1st solution for 1st OpenLane Topology in Autonomous Driving Challenge. It suggests a first-detect-then-reason philosophy for better topology prediction. It includes two well-designed high-performance detectors and two elegant MLP networks with position embedding for topology reasoning.

  • For lane detection, we represent each centerline as a smooth Bezier curve.
  • For traffic detection, we propose to optionally improve the query-based detectors by elegantly incorporating an extra object detector YOLOv8.
  • For lane-lane and lane-traffic topology prediction, MLPs is enough for better performance.

News

  • [2024.04.08] Other backbones are released for the incoming Mapless Driving Challenge. Welcome star and cite!
  • [2024.01.16] TopoMLP is accepted by ICLR2024.
  • [2023.10.11] Code is released. TopoMLP paper is released at arXiv.
  • [2023.06.16] Tech report is released at arXiv.
  • [2023.06.02] We achieve the 1st for 1st OpenLane Topology in Autonomous Driving Challenge.

Getting Started

Main Results

OpenLane-V2 subset-A val set:

Method Backbone Pretrain DETl TOPll DETt TOPlt OLS Config Weight/Log
TopoMLP ResNet-50 - 28.5 7.1 49.5 23.4 38.3 config weight/log
TopoMLP VOV FCOS3D 31.6 9.4 51.1 26.6 41.2 config log
TopoMLP Swin-B - 31.6 9.2 54.2 28.6 42.4 config log

Notes:

  • Our code supports flash attention, which is not used in the above results. You can replace the PETRMultiheadAttention in the config file to PETRMultiheadFlashAttention to use it.
  • ViT-Large can refer to StreamPETR. From our practice, it is not as good as Swin-B in this overall task, but it can perform well in sub-task centerline detection as reported in our technical report.

Citation

If you find TopoMLP is useful in your research or applications, please consider giving us a star 🌟 and citing it by the following BibTeX entry.

@article{wu2023topomlp,
  title={TopoMLP: An Simple yet Strong Pipeline for Driving Topology Reasoning},
  author={Wu, Dongming and Chang, Jiahao and Jia, Fan and Liu, Yingfei and Wang, Tiancai and Shen, Jianbing},
  journal={ICLR},
  year={2024}
}
@article{wu20231st,
  title={The 1st-place solution for cvpr 2023 openlane topology in autonomous driving challenge},
  author={Wu, Dongming and Jia, Fan and Chang, Jiahao and Li, Zhuoling and Sun, Jianjian and Han, Chunrui and Li, Shuailin and Liu, Yingfei and Ge, Zheng and Wang, Tiancai},
  journal={arXiv preprint arXiv:2306.09590},
  year={2023}
}

Acknowledgements

We thank the authors that open the following projects.

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