This reporsitory will contain the source code of TopoNet from the paper, Topology Reasoning for Driving Scenes.
TopoNet is the first end-to-end framework capable of abstracting traffic knowledge beyond conventional perception tasks, ie., reasoning connections between centerlines and traffic elements from sensor inputs. It unifies heterogeneous feature learning and enhances feature interactions via the graph neural network architecture and the knowledge graph design.
Topology Reasoning for Driving Scenes
Tianyu Li*, Li Chen*†, Xiangwei Geng, Huijie Wang, Yang Li, Zhenbo Liu, Shengyin Jiang, Yuting Wang, Hang Xu, Chunjing Xu, Feng Wen, Ping Luo, Junchi Yan, Wei Zhang, Xiaogang Wang, Yu Qiao, Hongyang Li†.
Paper: Full paper on arXiv
- Code & model will be released around June. Please stay tuned!
- [2023/4/11] TopoNet paper is available on arXiv.
We provide results on Openlane-V2. Models will be released together with codes.
| Method | Backbone | Epoch | DETl | DETl,chamfer | TOPll | DETt | TOPlt | OLS | Model |
|---|---|---|---|---|---|---|---|---|---|
| STSU | ResNet-50 | 24 | 12.0 | 11.5 | 0.3 | 62.3 | 10.1 | 27.9 | - |
| VectorMapNet | ResNet-50 | 24 | 11.3 | 13.4 | 0.1 | 58.5 | 6.2 | 24.5 | - |
| MapTR | ResNet-50 | 24 | 8.3 | 17.7 | 0.2 | 60.7 | 5.8 | 24.3 | - |
| MapTR* | ResNet-50 | 24 | 8.3 | 17.7 | 1.1 | 60.7 | 10.1 | 30.2 | - |
| TopoNet | ResNet-50 | 24 | 22.1 | 20.2 | 2.7 | 59.1 | 14.9 | 34.0 | - |
$*$ : evaluation based on matching results on Chamfer distance.
All assets and code are under the Apache 2.0 license unless specified otherwise.
If this work is helpful for your research, please consider citing the following BibTeX entry.
@article{li2023toponet,
title={Topology Reasoning for Driving Scenes},
author={Li, Tianyu and Chen, Li and Geng, Xiangwei and Wang, Huijie and Li, Yang and Liu, Zhenbo and Jiang, Shengyin and Wang, Yuting and Xu, Hang and Xu, Chunjing and Wen, Feng and Luo, Ping and Yan, Junchi and Zhang, Wei and Wang, Xiaogang and Qiao, Yu and Li, Hongyang},
journal={arXiv preprint arXiv:2304.05277},
year={2023}
}
@article{wang2023openlanev2,
title={Road Genome: A Topology Reasoning Benchmark for Scene Understanding in Autonomous Driving},
author={Wang, Huijie and Liu, Zhenbo and Li, Yang and Li, Tianyu and Chen, Li and Sima, Chonghao and Wang, Yuting and Jiang, Shengyin and Wen, Feng and Xu, Hang and Luo, Ping and Yan, Junchi and Zhang, Wei and Yao, Jun and Qiao, Yu and Li, Hongyang},
journal={arXiv preprint arXiv:2304.10440},
year={2023}
}We acknowledge all the open source contributors for the following projects to make this work possible: