# OpenLane-V2: A Topology Reasoning Benchmark for Unified 3D HD Mapping

arXiv: https://arxiv.org/abs/2304.10440 · HTML: https://mlsanity.com/paper/2304.10440/

## Key facts

- Cited by 83 papers in the map (data through 14 Oct 2026).
- Builds on 25 of its 47 references that are in the map.
- First posted on arXiv 20 Apr 2023.

## Builds on (most cited first, 25 of 25)

- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Visual Genome: Connecting Language and Vision Using Crowdsourced Dense Image Annotations](https://mlsanity.com/paper/1602.07332/) (2016)
- [Datasheets for Datasets](https://mlsanity.com/paper/1803.09010/) (2018)
- [BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning](https://mlsanity.com/paper/1805.04687/) (2018)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [Visual Relationship Detection with Language Priors](https://mlsanity.com/paper/1608.00187/) (2016)
- [MapTR: Structured Modeling and Learning for Online Vectorized HD Map Construction](https://mlsanity.com/paper/2208.14437/) (2022)
- [VectorMapNet: End-to-end Vectorized HD Map Learning](https://mlsanity.com/paper/2206.08920/) (2022)
- [Learning to Detect Human-Object Interactions](https://mlsanity.com/paper/1702.05448/) (2017)
- [Visual Semantic Role Labeling](https://mlsanity.com/paper/1505.04474/) (2015)
- [The ApolloScape Open Dataset for Autonomous Driving and its Application](https://mlsanity.com/paper/1803.06184/) (2018)
- [Spatial As Deep: Spatial CNN for Traffic Scene Understanding](https://mlsanity.com/paper/1712.06080/) (2017)
- [PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmark](https://mlsanity.com/paper/2203.11089/) (2022)
- [Toward Driving Scene Understanding: A Dataset for Learning Driver Behavior and Causal Reasoning](https://mlsanity.com/paper/1811.02307/) (2018)
- [Structured Bird's-Eye-View Traffic Scene Understanding from Onboard Images](https://mlsanity.com/paper/2110.01997/) (2021)
- [CurveLane-NAS: Unifying Lane-Sensitive Architecture Search and Adaptive Point Blending](https://mlsanity.com/paper/2007.12147/) (2020)
- [VPGNet: Vanishing Point Guided Network for Lane and Road Marking Detection and Recognition](https://mlsanity.com/paper/1710.06288/) (2017)
- [ROAD: The ROad event Awareness Dataset for Autonomous Driving](https://mlsanity.com/paper/2102.11585/) (2021)
- [Graph-based Topology Reasoning for Driving Scenes](https://mlsanity.com/paper/2304.05277/) (2023)
- [The Mapillary Traffic Sign Dataset for Detection and Classification on a Global Scale](https://mlsanity.com/paper/1909.04422/) (2019)
- [ONCE-3DLanes: Building Monocular 3D Lane Detection](https://mlsanity.com/paper/2205.00301/) (2022)
- [Real time Detection of Lane Markers in Urban Streets](https://mlsanity.com/paper/1411.7113/) (2014)
- [Road Scene Graph: A Semantic Graph-Based Scene Representation Dataset for Intelligent Vehicles](https://mlsanity.com/paper/2011.13588/) (2020)

## Built on by (most cited first, 30 of 83)

- [DriveLM: Driving with Graph Visual Question Answering](https://mlsanity.com/paper/2312.14150/) (2023)
- [End-to-end Autonomous Driving: Challenges and Frontiers](https://mlsanity.com/paper/2306.16927/) (2023)
- [OmniDrive: A Holistic Vision-Language Dataset for Autonomous Driving with Counterfactual Reasoning](https://mlsanity.com/paper/2504.04348/) (2025)
- [Visual Point Cloud Forecasting enables Scalable Autonomous Driving](https://mlsanity.com/paper/2312.17655/) (2023)
- [A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlook](https://mlsanity.com/paper/2401.01454/) (2024)
- [Fully Sparse 3D Occupancy Prediction](https://mlsanity.com/paper/2312.17118/) (2023)
- [Embodied Understanding of Driving Scenarios](https://mlsanity.com/paper/2403.04593/) (2024)
- [P-MapNet: Far-seeing Map Generator Enhanced by both SDMap and HDMap Priors](https://mlsanity.com/paper/2403.10521/) (2024)
- [T2SG: Traffic Topology Scene Graph for Topology Reasoning in Autonomous Driving](https://mlsanity.com/paper/2411.18894/) (2024)
- [TopoLogic: An Interpretable Pipeline for Lane Topology Reasoning on Driving Scenes](https://mlsanity.com/paper/2405.14747/) (2024)
- [Enhancing Vectorized Map Perception with Historical Rasterized Maps](https://mlsanity.com/paper/2409.00620/) (2024)
- [Open-sourced Data Ecosystem in Autonomous Driving: the Present and Future](https://mlsanity.com/paper/2312.03408/) (2023)
- [Enhancing 3D Lane Detection and Topology Reasoning with 2D Lane Priors](https://mlsanity.com/paper/2406.03105/) (2024)
- [Is a 3D-Tokenized LLM the Key to Reliable Autonomous Driving?](https://mlsanity.com/paper/2405.18361/) (2024)
- [Fine-Grained Evaluation of Large Vision-Language Models in Autonomous Driving](https://mlsanity.com/paper/2503.21505/) (2025)
- [RoadPainter: Points Are Ideal Navigators for Topology transformER](https://mlsanity.com/paper/2407.15349/) (2024)
- [Chameleon: Fast-slow Neuro-symbolic Lane Topology Extraction](https://mlsanity.com/paper/2503.07485/) (2025)
- [SemVecNet: Generalizable Vector Map Generation for Arbitrary Sensor Configurations](https://mlsanity.com/paper/2405.00250/) (2024)
- [SMART: Advancing Scalable Map Priors for Driving Topology Reasoning](https://mlsanity.com/paper/2502.04329/) (2025)
- [GroupLane: End-to-End 3D Lane Detection with Channel-wise Grouping](https://mlsanity.com/paper/2307.09472/) (2023)
- [Driving by the Rules: A Benchmark for Integrating Traffic Sign Regulations into Vectorized HD Map](https://mlsanity.com/paper/2410.23780/) (2024)
- [SeqGrowGraph: Learning Lane Topology as a Chain of Graph Expansions](https://mlsanity.com/paper/2507.04822/) (2025)
- [XLD: A Cross-Lane Dataset for Benchmarking Novel Driving View Synthesis](https://mlsanity.com/paper/2406.18360/) (2024)
- [SEPT: Standard-Definition Map Enhanced Scene Perception and Topology Reasoning for Autonomous Driving](https://mlsanity.com/paper/2505.12246/) (2025)
- [TopoPoint: Enhance Topology Reasoning via Endpoint Detection in Autonomous Driving](https://mlsanity.com/paper/2505.17771/) (2025)
- [Reusing Attention for One-stage Lane Topology Understanding](https://mlsanity.com/paper/2507.17617/) (2025)
- [Anchor3DLane++: 3D Lane Detection via Sample-Adaptive Sparse 3D Anchor Regression](https://mlsanity.com/paper/2412.16889/) (2024)
- [TopoMaskV2: Enhanced Instance-Mask-Based Formulation for the Road Topology Problem](https://mlsanity.com/paper/2409.11325/) (2024)
- [Tracking Meets Large Multimodal Models for Driving Scenario Understanding](https://mlsanity.com/paper/2503.14498/) (2025)
- [Mind the map! Accounting for existing map information when estimating online HDMaps from sensor](https://mlsanity.com/paper/2311.10517/) (2023)

## Abstract (arXiv)

Accurately depicting the complex traffic scene is a vital component for autonomous vehicles to execute correct judgments. However, existing benchmarks tend to oversimplify the scene by solely focusing on lane perception tasks. Observing that human drivers rely on both lanes and traffic signals to operate their vehicles safely, we present OpenLane-V2, the first dataset on topology reasoning for traffic scene structure. The objective of the presented dataset is to advance research in understanding the structure of road scenes by examining the relationship between perceived entities, such as traffic elements and lanes. Leveraging existing datasets, OpenLane-V2 consists of 2,000 annotated road scenes that describe traffic elements and their correlation to the lanes. It comprises three primary sub-tasks, including the 3D lane detection inherited from OpenLane, accompanied by corresponding metrics to evaluate the model's performance. We evaluate various state-of-the-art methods, and present their quantitative and qualitative results on OpenLane-V2 to indicate future avenues for investigating topology reasoning in traffic scenes.