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CurveFormer++: 3D Lane Detection by Curve Propagation with Temporal Curve Queries and Attention
A curve cross-attention module is introduced in the Transformer decoder to calculate similarities between image features and curve queries of lanes.
CurveFormer: 3D Lane Detection by Curve Propagation with Curve Queries and Attention
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.
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3D Lane Detection
on Apollo Synthetic 3D Lane
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