Graph-based topology reasoning for driving scenes

Abstract Understanding the road structure is essential for achieving autonomous driving. This intricate topic contains two fundamental components: the interconnections between lanes and the associations between lanes and traffic elements (e.g., traffic lights), where a comprehensive topology reasoning method is still absent. On one hand, existing map learning techniques face challenges in deriving lane connectivity using segmentation or laneline-based representations; or prior approaches focus on centerline detection while neglecting interaction modeling. On the other hand, the topic of assigning traffic elements to lanes is limited in the image domain, leaving the construction of the correspondence between…