TopoMLP: A Simple yet Strong Pipeline for Driving Topology Reasoning
Dongming Wu, Jiahao Chang, Fan Jia, Yingfei Liu, Tiancai Wang, Jianbing Shen
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.
- [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.
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
PETRMultiheadAttentionin the config file toPETRMultiheadFlashAttentionto 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.
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}
}
We thank the authors that open the following projects.