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

arXiv: https://arxiv.org/abs/2306.09590 · HTML: https://mlsanity.com/paper/2306.09590/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- Builds on 9 of its 12 references that are in the map.
- First posted on arXiv 16 Jun 2023.

## Builds on (most cited first, 9 of 9)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [YOLOX: Exceeding YOLO Series in 2021](https://mlsanity.com/paper/2107.08430/) (2021)
- [PETR: Position Embedding Transformation for Multi-View 3D Object Detection](https://mlsanity.com/paper/2203.05625/) (2022)
- [PETRv2: A Unified Framework for 3D Perception from Multi-Camera Images](https://mlsanity.com/paper/2206.01256/) (2022)
- [Class-balanced Grouping and Sampling for Point Cloud 3D Object Detection](https://mlsanity.com/paper/1908.09492/) (2019)
- [An Energy and GPU-Computation Efficient Backbone Network for Real-Time Object Detection](https://mlsanity.com/paper/1904.09730/) (2019)
- [Referring Multi-Object Tracking](https://mlsanity.com/paper/2303.03366/) (2023)

## Built on by (most cited first, 10 of 10)

- [Language Prompt for Autonomous Driving](https://mlsanity.com/paper/2309.04379/) (2023)
- [Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Maps](https://mlsanity.com/paper/2311.04079/) (2023)
- [Stream Query Denoising for Vectorized HD Map Construction](https://mlsanity.com/paper/2401.09112/) (2024)
- [TopoLogic: An Interpretable Pipeline for Lane Topology Reasoning on Driving Scenes](https://mlsanity.com/paper/2405.14747/) (2024)
- [Chameleon: Fast-slow Neuro-symbolic Lane Topology Extraction](https://mlsanity.com/paper/2503.07485/) (2025)
- [Enhancing Online Road Network Perception and Reasoning with Standard Definition Maps](https://mlsanity.com/paper/2408.01471/) (2024)
- [TopoPoint: Enhance Topology Reasoning via Endpoint Detection in Autonomous Driving](https://mlsanity.com/paper/2505.17771/) (2025)
- [DuMapNet: An End-to-End Vectorization System for City-Scale Lane-Level Map Generation](https://mlsanity.com/paper/2406.14255/) (2024)
- [RepVF: A Unified Vector Fields Representation for Multi-task 3D Perception](https://mlsanity.com/paper/2407.10876/) (2024)
- [Plug-and-Play Traffic Element Awareness for End-to-End Autonomous Driving](https://mlsanity.com/paper/2608.18035/) (2026)

## 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.