Sparse Laneformer

arXiv:2404.07821v1 Announce Type: new
Abstract: Lane detection is a fundamental task in autonomous driving, and has achieved great progress as deep learning emerges. Previous anchor-based methods often design dense anchors, which highly depend on the training dataset and remain fixed during inference. We analyze that dense anchors are not necessary for lane detection, and propose a transformer-based lane detection framework based on a sparse anchor mechanism. To this end, we generate sparse anchors with position-aware lane queries and angle queries …

abstract analyze anchor anchors arxiv autonomous autonomous driving cs.cv dataset deep learning design detection driving inference lane detection progress training transformer type