Reproduce “TopoCurve: Geometry-Aware Topology Reasoning via Bézier Curves in Autonomous Driving” on OpenResearch
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About this paper
Mihai Bogdan Deaconu, Laura Dioşan
TopoCurve represents each lane as an endpoint-fixed cubic Bézier curve and reuses it for connectivity reasoning, image-feature sampling, and training supervision. FourierGeoBias encodes endpoint distance and tangent alignment, while curve-anchored branches provide auxiliary topology supervision. On OpenLane-V2 subset_A, it scores 50.6 OLS without post-processing, versus TopoPoint’s 48.8 with PLGM; the model uses single frames and has lower FPS than TopoPoint.
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