CurveFormer: 3D Lane Detection by Curve Propagation with Curve Queries and Attention

TL;DR

CurveFormer is a novel Transformer-based approach for 3D lane detection that directly predicts lane parameters without explicit view transformation, using curve queries and attention mechanisms to improve accuracy.

Contribution

The paper introduces CurveFormer, a single-stage Transformer model that formulates 3D lane detection as a curve propagation problem, eliminating the need for view transformation.

Findings

Achieves promising results on synthetic and real-world datasets.

Outperforms state-of-the-art methods in 3D lane detection.

Validated effectiveness of each component through ablation studies.

Abstract

3D lane detection is an integral part of autonomous driving systems. Previous CNN and Transformer-based methods usually first generate a bird's-eye-view (BEV) feature map from the front view image, and then use a sub-network with BEV feature map as input to predict 3D lanes. Such approaches require an explicit view transformation between BEV and front view, which itself is still a challenging problem. In this paper, we propose CurveFormer, a single-stage Transformer-based method that directly calculates 3D lane parameters and can circumvent the difficult view transformation step. Specifically, we formulate 3D lane detection as a curve propagation problem by using curve queries. A 3D lane query is represented by a dynamic and ordered anchor point set. In this way, queries with curve representation in Transformer decoder iteratively refine the 3D lane detection results. Moreover, a curve cross-attention module is introduced to compute the similarities between curve queries and image features. Additionally, a context sampling module that can capture more relative image features of a curve query is provided to further boost the 3D lane detection performance. We evaluate our method for 3D lane detection on both synthetic and real-world datasets, and the experimental results show that our method achieves promising performance compared with the state-of-the-art approaches. The effectiveness of each component is validated via ablation studies as well.