Kensho Nakajima

WASABI: Whole-graph Assignment-based Stabilizer for lAne topology By Inter-frame tracking

Tetsuhiro Uchida, Myu Sasaki, Kensho Nakajima, Yasuhiro Shimada, Toru Saito

Autonomous driving requires understanding the road as a graph of drivable lanes and their connectivity, beyond the ego lane alone, to follow routes through intersections and reason about cross- and merging-traffic. Recent perception models infer such lane topology, i.e., lane seg…Read more