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.
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:
PETRMultiheadAttention
in the config file to PETRMultiheadFlashAttention
to use it.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.