Online Monocular Lane Mapping Using Catmull-Rom Spline

TL;DR

This paper presents an online monocular lane mapping method that uses spline models and graph-based association, improving lane mapping accuracy with a single camera and odometry, validated on the OpenLane dataset.

Contribution

The paper introduces a novel spline-based online lane mapping approach that models lane association as a bipartite graph assignment problem, enhancing map quality and odometry accuracy.

Findings

Improved lane association accuracy

Enhanced odometry precision

Better overall lane map quality

Abstract

In this study, we introduce an online monocular lane mapping approach that solely relies on a single camera and odometry for generating spline-based maps. Our proposed technique models the lane association process as an assignment issue utilizing a bipartite graph, and assigns weights to the edges by incorporating Chamfer distance, pose uncertainty, and lateral sequence consistency. Furthermore, we meticulously design control point initialization, spline parameterization, and optimization to progressively create, expand, and refine splines. In contrast to prior research that assessed performance using self-constructed datasets, our experiments are conducted on the openly accessible OpenLane dataset. The experimental outcomes reveal that our suggested approach enhances lane association and odometry precision, as well as overall lane map quality. We have open-sourced our code1 for this project.