arxivcs.CVcs.ROeess.IV2026-07-23
HGeo-TopoMap: Boosting Topological Mapping with Hierarchical Geometric Priors
Siyu Li, Kunyu Peng, Di Wen, Beiping Hou, Zhiyong Li, Kailun Yang
Topological maps are key outputs of autonomous driving perception systems, delivering essential road information for path planning. They identify instances such as centerlines and traffic signs, along with their connectivity relationships. Due to the lack of explicit markings for…