TOFG: A Unified and Fine-Grained Environment Representation in Autonomous Driving
Zihao Wen,Yifan Zhang,Xinhong Chen,Jianping Wang,Zihao Wen,Yifan Zhang,Xinhong Chen,Jianping Wang
In autonomous driving, an accurate understanding of environment, e.g., the vehicle-to-vehicle and vehicle-to-lane interactions, plays a critical role in many driving tasks such as trajectory prediction and motion planning. Environment information comes from high-definition (HD) map and historical trajectories of vehicles. Due to the heterogeneity of the map data and trajectory data, many data-driv...
