mlsanityData to 7 Oct 2026

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

arXiv 2306.09590 ↗First posted 16 Jun 2023cs.CVcited by 10

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Abstract (arXiv)

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.

Key facts. Cited by 10 papers in the map (data through 7 Oct 2026). Builds on 9 of its 12 references that are in the map. First posted on arXiv 16 Jun 2023.

Builds on

9 of 12 references.

References · 9

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  3. 2020End-to-End Object Detection with Transformerscited by 7,384
  4. 2021YOLOX: Exceeding YOLO Series in 2021cited by 1,064
  5. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 550
  6. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 351
  7. 2019Class-balanced Grouping and Sampling for Point Cloud 3D Object Detectioncited by 350
  8. 2019An Energy and GPU-Computation Efficient Backbone Network for Real-Time Object Detectioncited by 163
  9. 2023Referring Multi-Object Trackingcited by 91

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 2; 2024: 5; 2025: 2; 2026: 1.

10 papers.

  1. 2023Language Prompt for Autonomous Drivingcited by 110
  2. 2023Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Mapscited by 58
  3. 2024Stream Query Denoising for Vectorized HD Map Constructioncited by 43
  4. 2024TopoLogic: An Interpretable Pipeline for Lane Topology Reasoning on Driving Scenescited by 29
  5. 2025Chameleon: Fast-slow Neuro-symbolic Lane Topology Extractioncited by 16
  6. 2024Enhancing Online Road Network Perception and Reasoning with Standard Definition Mapscited by 11
  7. 2025TopoPoint: Enhance Topology Reasoning via Endpoint Detection in Autonomous Drivingcited by 9
  8. 2024DuMapNet: An End-to-End Vectorization System for City-Scale Lane-Level Map Generationcited by 7
  9. 2024RepVF: A Unified Vector Fields Representation for Multi-task 3D Perceptioncited by 5
  10. 2026Plug-and-Play Traffic Element Awareness for End-to-End Autonomous Drivingcited by 0