The 1st-place Solution for CVPR 2023 OpenLane Topology in Autonomous Driving Challenge

06/16/2023

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by   Dongming Wu, et al.

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We present the 1st-place solution of OpenLane Topology in Autonomous Driving Challenge. Considering that topology reasoning is based on centerline detection and traffic element detection, we develop a multi-stage framework for high performance. Specifically, the centerline is detected by the powerful PETRv2 detector and the popular YOLOv8 is employed to detect the traffic elements. Further, we design a simple yet effective MLP-based head for topology prediction. Our method achieves 55% OLS on the OpenLaneV2 test set, surpassing the 2nd solution by 8 points.