CurveFormer++: 3D Lane Detection by Curve Propagation with Temporal Curve Queries and Attention

In autonomous driving, 3D lane detection using monocular cameras is an important task for various downstream planning and control tasks. Recent CNN and Transformer approaches usually apply a two-stage scheme in the model design. The first stage transforms the image feature from a front image into a bird's-eye-view (BEV) representation. Subsequently, a sub-network processes the BEV feature map to generate the 3D detection results. However, these approaches heavily rely on a challenging image feature transformation module from a perspective view …

apply attention autonomous autonomous driving cameras cnn control cs.cv design detection driving feature image lane detection model design planning propagation stage tasks temporal transformer