Online Lane Graph Extraction from Onboard Video

by   Yigit Baran Can, et al.

Autonomous driving requires a structured understanding of the surrounding road network to navigate. One of the most common and useful representation of such an understanding is done in the form of BEV lane graphs. In this work, we use the video stream from an onboard camera for online extraction of the surrounding's lane graph. Using video, instead of a single image, as input poses both benefits and challenges in terms of combining the information from different timesteps. We study the emerged challenges using three different approaches. The first approach is a post-processing step that is capable of merging single frame lane graph estimates into a unified lane graph. The second approach uses the spatialtemporal embeddings in the transformer to enable the network to discover the best temporal aggregation strategy. Finally, the third, and the proposed method, is an early temporal aggregation through explicit BEV projection and alignment of framewise features. A single model of this proposed simple, yet effective, method can process any number of images, including one, to produce accurate lane graphs. The experiments on the Nuscenes and Argoverse datasets show the validity of all the approaches while highlighting the superiority of the proposed method. The code will be made public.


page 1

page 4

page 5

page 8


Prior Based Online Lane Graph Extraction from Single Onboard Camera Image

The local road network information is essential for autonomous navigatio...

Improving Online Lane Graph Extraction by Object-Lane Clustering

Autonomous driving requires accurate local scene understanding informati...

Learning and Aggregating Lane Graphs for Urban Automated Driving

Lane graph estimation is an essential and highly challenging task in aut...

VIL-100: A New Dataset and A Baseline Model for Video Instance Lane Detection

Lane detection plays a key role in autonomous driving. While car cameras...

End-to-end Lane Shape Prediction with Transformers

Lane detection, the process of identifying lane markings as approximated...

Hierarchical Recurrent Attention Networks for Structured Online Maps

In this paper, we tackle the problem of online road network extraction f...

Online Extrinsic Camera Calibration for Temporally Consistent IPM Using Lane Boundary Observations with a Lane Width Prior

In this paper, we propose a method for online extrinsic camera calibrati...

Please sign up or login with your details

Forgot password? Click here to reset