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SMERF: Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Maps

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Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Maps.

by Katie Z Luo, Xinshuo Weng, Yan Wang, Shuang Wu, Jie Li, Kilian Q. Weinberger, Yue Wang, and Marco Pavone

Paper | Project Page

Figure

Abstract

Autonomous driving has traditionally relied heavily on costly and labor-intensive High Definition (HD) maps, hindering scalability. In contrast, Standard Definition (SD) maps are more affordable and have worldwide coverage, offering a scalable alternative. In this work, we systematically explore the effect of SD maps for real-time lane-topology understanding. We propose a novel framework to integrate SD maps into online map prediction and propose a Transformer-based encoder, SD Map Encoder Representations from transFormers, to leverage priors in SD maps for the lane-topology prediction task. This enhancement consistently and significantly boosts (by up to 60%) lane detection and topology prediction on current state-of-the-art online map prediction methods without bells and whistles and can be immediately incorporated into any Transformer-based lane-topology method.

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Table of Contents

Main Results

Results on OpenLane-V2 subset-A val

We provide results on Openlane-V2 subset-A val set.

DET<sub>l</sub>TOP<sub>ll</sub>DET<sub>t</sub>TOP<sub>lt</sub>OLSModelConfig
Baseline17.02.348.516.230.2ckptcfg
Baseline + SMERF26.83.948.919.234.8ckptcfg
Toponet28.24.144.520.634.5ckptcfg
Toponet + SMERF33.47.548.623.439.4ckptcfg

Installation

Prerequisites

Environment Setup

We recommend using conda to run the code. Alternatively, we provide a Dockerfile for ease of installation.

conda create -n smerf python=3.8 -y
conda activate smerf

pip install torch==1.9.1+cu111 torchvision==0.10.1+cu111 -f https://download.pytorch.org/whl/torch_stable.html

Install mm-series packages.

pip install mmcv-full==1.5.2 -f https://download.openmmlab.com/mmcv/dist/cu111/torch1.9.0/index.html
pip install mmdet==2.26.0
pip install mmsegmentation==0.29.1

Install other required packages.

cd SMERF
pip install -r requirements.txt

This code base uses mmdetection3D, and all relevant code for the project is in the mmdetection3d/projects directory. Set up mmdetection3D, corresponding to mmdet3d==1.0.0rc6:

cd SMERF/mmdetection3d
pip install -v -e .

Install dependencies for OpenStreetMap:

pip install osmnx==1.5.1
pip install av2==0.2.1
pip install geocube==0.3.3
pip install sparse==0.14.0

If errors occur, manually upgrade the following packages:

pip install --upgrade jupyter_core jupyter_client
pip install --upgrade "protobuf<=3.20.1"

Dataset Setup

Follow the OpenLane-V2 repo to download the data. Preprocess the data for training and evaluation:

<!-- and run the [preprocessing](https://github.com/OpenDriveLab/OpenLane-V2/tree/v1.0.0/data#preprocess) code. -->
cd data
python OpenLane-V2/preprocess.py 

After setup, the hierarchy of folder data/OpenLane-V2 should look as follows:

data/OpenLane-V2
├── train
|   └── ...
├── val
|   └── ...
├── test
|   └── ...
├── data_dict_subset_A_train.pkl
├── data_dict_subset_A_val.pkl
├── data_dict_subset_B_train.pkl
├── data_dict_subset_B_val.pkl
├── ...

SD Map Processing

This work uses Standard Definition (SD) maps; our SD maps are pulled from OpenStreetMap. Download and process the SD maps relevant to this dataset:

cd openlanev2
python sd_maps/load_sdmap_graph.py --collection data_dict_subset_A_[train/val] --city_names [train/val]_city

A script for parallelizing the process is provided at openlanev2/sd_maps/load_sdmap.sh.

Train and Evaluate

Train

This work reported numbers for models trained with 8 GPUs. If a different number of GPUs is utilized, you can enhance performance by configuring the --autoscale-lr option.

cd SMERF/mmdetection3d
bash tools/dist_train.sh [config] 8 [--autoscale-lr]

The training logs will be saved to work_dirs/[config].

For example, to train the OpenLane-V2 baseline model with SMERF map embeddings on 8 GPUs, run:

bash tools/dist_train.sh projects/openlanev2/configs/baseline_large_ptsrep_smerf.py 8

Edit: It has been brought to my attention that the baseline model might take too much memory for most machines. One thing I would suggest is to run the Toponet baseline. Their model is more lightweight and (as a plus) yields better results. Run distributed training with:

bash tools/dist_train.sh projects/toponet_openlanev2/configs/toponet_smerf.py 8

Evaluation and Visualization

You can set --eval-options visualization=True to visualize the results.

cd SMERF/mmdetection3d
bash tools/dist_test.sh [config] [checkpoint_path] 8 --eval * [--eval-options visualization=True visualization_num=200]

Training and evaluating on geographically disjoint set

To reproduce the split from the geographically disjoint OpenLane-V2 split, run the preprocessing code:

cd data
python OpenLane-V2/process_disjoint_split.py

The model configs and checkpoints are provided for training and evaluation:

OLSModelConfig
Baseline16.9ckptcfg
Baseline + SMERF22.1ckptcfg
Toponet21.7ckptcfg
Toponet + SMERF23.4ckptcfg

Citation

If this work is helpful for your research, please consider citing us!

@article{luo2023augmenting,
  title={Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Maps},
  author={Luo, Katie Z and Weng, Xinshuo and Wang, Yan and Wu, Shuang and Li, Jie and Weinberger, Kilian Q and Wang, Yue and Pavone, Marco},
  journal={arXiv preprint arXiv:2311.04079},
  year={2023}
}