1 code implementation • 10 Aug 2023 • Bencheng Liao, Shaoyu Chen, Yunchi Zhang, Bo Jiang, Qian Zhang, Wenyu Liu, Chang Huang, Xinggang Wang
We propose a unified permutation-equivalent modeling approach, \ie, modeling map element as a point set with a group of equivalent permutations, which accurately describes the shape of map element and stabilizes the learning process.
1 code implementation • 19 Apr 2023 • Shaoyu Chen, Yunchi Zhang, Bencheng Liao, Jiafeng Xie, Tianheng Cheng, Wei Sui, Qian Zhang, Chang Huang, Wenyu Liu, Xinggang Wang
We design a divide-and-conquer annotation scheme to solve the spatial extensibility problem of HD map generation, and abstract map elements with a variety of geometric patterns as unified point sequence representation, which can be extended to most map elements in the driving scene.