TopoSD: Topology-Enhanced Lane Segment Perception with SDMap Prior

Abstract

Recent advances in autonomous driving systems have shifted towards reducing reliance on high-definition maps (HDMaps) due to the huge costs of annotation and maintenance. Instead, researchers are focusing on online vectorized HDMap construction using on-board sensors. However, sensor-only approaches still face challenges in long-range perception due to the restricted views imposed by the mounting angles of onboard cameras, just as human drivers also rely on bird's-eye-view navigation maps for a comprehensive understanding of road structures. To address these issues, we propose to train the perception model to "see" standard definition maps (SDMaps). We encode SDMap elements into neural spatial map representations and instance tokens, and then incorporate such complementary features as prior information to improve the bird's eye view (BEV) feature for lane geometry and topology decoding. Based on the lane segment representation framework, the model simultaneously predicts lanes, centrelines and their topology. To further enhance the ability of geometry prediction and topology reasoning, we also use a topology-guided decoder to refine the predictions by exploiting the mutual relationships between topological and geometric features. We perform extensive experiments on OpenLane-V2 datasets to validate the proposed method. The results show that our model outperforms state-of-the-art methods by a large margin, with gains of +6.7 and +9.1 on the mAP and topology metrics. Our analysis also reveals that models trained with SDMap noise augmentation exhibit enhanced robustness.