Lane centerline perception and reasoning on OpenLane V2 (subset B)
40.7TOPllUniTopo‡ (Ours)
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| UniTopo‡ (Ours)Backbone=Swin-B, Epoch=48e2026.05 | 40.7 | 30.7 | 37.4 | 62 | 54.6 | |
| UniTopo‡ (Ours)Backbone=Swin-B, Epoch=24e2026.05 | 34.4 | 27.7 | 33.1 | 61 | 51.4 | |
| TopoMLP*Backbone=Swin-B, Epoch=48e2026.05 | 33.1 | 27.4 | 37.2 | 67.1 | 53.6 | |
| UniTopo‡ (Ours)Backbone=ResNet-50, Epoch=24e2026.05 | 31.8 | 24.3 | 31.1 | 53.6 | 47.6 | |
| UniTopo (Ours)Backbone=ResNet-50, Epoch=24e2026.05 | 28.3 | 23.4 | 29.4 | 58.6 | 47.4 | |
| TopoMLP*Backbone=Swin-B, Epoch=24e2026.05 | 27.4 | 26.1 | 30.5 | 66.8 | 50.2 | |
| T2SGBackbone=ResNet-50, Epoch=24e2026.05 | 23.2 | 23.3 | 34.8 | 58.9 | 47.5 | |
| TopoMLP*Backbone=ResNet-50, Epoch=24e2026.05 | 21.6 | 20 | 25.8 | 60.2 | 44.3 | |
| TopoLogicBackbone=ResNet-50, Epoch=24e2026.05 | 21.6 | 17.9 | 25.9 | 54.7 | 42.3 | |
| TSTGT†Backbone=ResNet-50, Epoch=24e2026.05 | 13.7 | 18.9 | 27.5 | 60.5 | 42.1 | |
| TopoNetBackbone=ResNet-50, Epoch=24e2026.05 | 6.7 | 16.7 | 24.4 | 52.6 | 36 |