Lane Centerline Perception and Reasoning on OpenLane-V2 subset A 6
35.1TOPllUniTopo‡
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| UniTopo‡Backbone=Swin-B, Epoch=48e, baseline=TopoLogic2026.05 | 35.1 | 35.8 | 34.2 | 50.8 | 51 | |
| UniTopo‡Backbone=Swin-B, Epoch=24e, baseline=TopoLogic2026.05 | 31.5 | 33.8 | 31.6 | 52.4 | 49.5 | |
| UniTopo‡Backbone=ResNet-50, Epoch=24e, baseline=TopoLogic2026.05 | 30.1 | 31.4 | 31.4 | 52.4 | 48.7 | |
| UniTopoBackbone=ResNet-50, Epoch=24e, baseline=TopoNet2026.05 | 29.6 | 31.2 | 29.8 | 49.3 | 47.3 | |
| TopoMLP*Backbone=Swin-B, Epoch=48e, re-implemented=true2026.05 | 28.7 | 33.5 | 32.9 | 54.4 | 49.7 | |
| TopoMLP*Backbone=Swin-B, Epoch=24e, re-implemented=true2026.05 | 24.7 | 31.5 | 31.1 | 55.3 | 48.1 | |
| T2SGBackbone=ResNet-50, Epoch=24e2026.05 | 24.1 | 29.5 | 34.7 | 48.2 | 46.3 | |
| TopoLogicBackbone=ResNet-50, Epoch=24e2026.05 | 23.9 | 25.4 | 29.9 | 47.2 | 44.1 | |
| RoadPainterBackbone=ResNet-50, Epoch=24e2026.05 | 22.8 | 27.2 | 30.7 | 47.7 | 44.6 | |
| Topo2DBackbone=ResNet-50, Epoch=24e2026.05 | 22.3 | 26.2 | 29.1 | 50.6 | 44.5 | |
| TopoMLPBackbone=ResNet-50, Epoch=24e2026.05 | 21.7 | 26.9 | 28.5 | 49.5 | 44.1 | |
| TSTGTBackbone=ResNet-50, Epoch=24e, note=cited from paper, uses outdated metrics2026.05 | 12.1 | 23.5 | 29 | 50.5 | 40.7 | |
| TopoNetBackbone=ResNet-50, Epoch=24e2026.05 | 10.9 | 23.8 | 28.6 | 48.6 | 39.8 | |
| MapTRBackbone=ResNet-50, Epoch=24e2026.05 | 5.9 | 15.1 | 17.7 | 43.5 | 31 | |
| STSUBackbone=ResNet-50, Epoch=24e2026.05 | 2.9 | 19.8 | 12.7 | 43 | 29.3 | |
| VectorMapNetBackbone=ResNet-50, Epoch=24e2026.05 | 2.7 | 9.2 | 11.1 | 41.7 | 24.9 |