Zhenbo Liu

Huijie Wang, Tianyu Li, Yang Li et al.

Accurately depicting the complex traffic scene is a vital component for autonomous vehicles to execute correct judgments. However, existing benchmarks tend to oversimplify the scene by solely focusing on lane perception tasks. Observing that human drivers rely on both lanes and traffic signals to operate their vehicles safely, we present OpenLane-V2, the first dataset on topology reasoning for traffic scene structure. The objective of the presented dataset is to advance research in understanding the structure of road scenes by examining the relationship between perceived entities, such as traffic elements and lanes. Leveraging existing datasets, OpenLane-V2 consists of 2,000 annotated road scenes that describe traffic elements and their correlation to the lanes. It comprises three primary sub-tasks, including the 3D lane detection inherited from OpenLane, accompanied by corresponding metrics to evaluate the model's performance. We evaluate various state-of-the-art methods, and present their quantitative and qualitative results on OpenLane-V2 to indicate future avenues for investigating topology reasoning in traffic scenes.

Yuxiang Zhang, Zhenbo Liu, Shuai Wang

Objects in a scene are not always related. The execution efficiency of the one-stage scene graph generation approaches are quite high, which infer the effective relation between entity pairs using sparse proposal sets and a few queries. However, they only focus on the relation between subject and object in triplet set subject entity, predicate entity, object entity, ignoring the relation between subject and predicate or predicate and object, and the model lacks self-reasoning ability. In addition, linguistic modality has been neglected in the one-stage method. It is necessary to mine linguistic modality knowledge to improve model reasoning ability. To address the above-mentioned shortcomings, a Self-reasoning Transformer with Visual-linguistic Knowledge (SrTR) is proposed to add flexible self-reasoning ability to the model. An encoder-decoder architecture is adopted in SrTR, and a self-reasoning decoder is developed to complete three inferences of the triplet set, s+o-p, s+p-o and p+o-s. Inspired by the large-scale pre-training image-text foundation models, visual-linguistic prior knowledge is introduced and a visual-linguistic alignment strategy is designed to project visual representations into semantic spaces with prior knowledge to aid relational reasoning. Experiments on the Visual Genome dataset demonstrate the superiority and fast inference ability of the proposed method.