WASABI: Whole-graph Assignment-based Stabilizer for lAne topology By Inter-frame tracking

• URL: http://arxiv.org/abs/2607.19781v1
• Date: Wed, 22 Jul 2026 05:59:22 GMT
• Title: WASABI: Whole-graph Assignment-based Stabilizer for lAne topology By Inter-frame tracking
• Abstract summary: Recent perception models infer lane topology from onboard sensors over a 360-degree BEV view.<n>Their outputs retain structural instabilities such as missed detections, lost or incorrect LCLC, over-detection, and label flicker.<n>This paper presents WASABI, a real-time post-processing pipeline that stabilizes lane topology outputs both within and across frames.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Autonomous driving requires understanding the road as a graph of drivable lanes and their connectivity, beyond the ego lane alone, to follow routes through intersections and reason about cross- and merging-traffic. Recent perception models infer such lane topology, i.e., lane segments together with their inter-lane connectivity (LCLC), from onboard sensors over a 360-degree BEV view. Due to neural perception's imperfections, their outputs retain structural instabilities such as missed detections, lost or incorrect LCLC, over-detection, and label flicker. This paper presents WASABI, a real-time post-processing pipeline that stabilizes lane topology outputs both within and across frames by treating lane segments and their LCLC connectivity as joint tracking targets, under onboard real-time constraints (10 Hz / 20 ms / up to 200 input lanes). The pipeline integrates segment tracking with connectivity, noise-robust topology-aware refinement, and a resource-constrained real-time design. On internal validation data (16 sequences), WASABI improves LCLC detection F1 from 0.834 to 0.948 (+0.114, +13.6%) and reduces centerline lateral error from 2.50 m to 0.95 m, while reducing detection false-positives by 24.6%. Temporal-stability metrics on the same data show LCLC toggle rate reduced by 63.3% and boundary-label flicker rate by 30.2%, confirming across-frame stabilization beyond per-frame accuracy.

Related papers

• An Adaptive Fixed-Time Line-of-Sight Guidance Scheme for 3D Path Following of Underwater Vehicles: Theory and Experiment [2.202253618096515]
  This paper proposes a robust fixed-time adaptive guidance framework for 3D path tracking for AUVs.<n>A time-varying look-ahead mechanism is also introduced to improve tracking performance on curved paths.
  arXiv  Detail & Related papers  (2026-09-13T19:42:16Z)
• Solution for UCF UrbanTwin V2X-Real Track: Sim-to-Real Urban LiDAR 3D Object Detection [54.03436243843709]
  This report presents a multi-source collaborative training and class-aware fusion framework for Sim2Real 3D detection.<n>The method organizes digital-twin scans, diffusion-redrawn scans, density-stabilized scans, and pedestrian morphology-aligned samples into a unified training pool with complementary roles.
  arXiv  Detail & Related papers  (2026-09-07T15:16:15Z)
• A Hybrid Two-Stage Machine Learning Pipeline for Fault Detection and Classification in Power Transmission Systems [0.4349640169711269]
  This paper proposes a hybrid two-stage machine learning pipeline that decouples detection from classification.<n>On the TLFaultDataset, the pipeline raises Line-fault end-to-end accuracy from 31.3% to 95.8%.<n>On an independent single-point dataset, the same framework attains 97.25% end-to-end accuracy across all classes including normal operation.
  arXiv  Detail & Related papers  (2026-08-24T18:11:29Z)
• Beyond Control Points: Arcsecond Relative-Motion Estimation of Vision Measurement Platforms With Incomplete or Absent Control Fields [43.43572961146893]
  We develop a control-adaptive differential framework that estimates platform motion directly from image displacements and known 3D points.<n>We derive the rotation observability condition, a leakage bound for unmodeled translation and nonrigid point motion, and the single-point axial-prior bias law.
  arXiv  Detail & Related papers  (2026-08-14T03:41:30Z)
• Zero-Shot Traffic Accident Detection via a Coarse-to-Fine VLM-Tracking Pipeline [0.10874100424278173]
  ACCIDENT @ CVPR benchmark evaluates exactly this joint prediction under a strict constraint.<n>We introduce a training-free, two-pass coarse-to-fine pipeline that pairs a frozen Qwen3-VL-32B-Instruct vision-language model with YOLO11x object detection and BoT-SORT tracking.<n>On the official 2,027-clip real-CCTV test set, our system achieves a three-way harmonic mean score of 0.504.
  arXiv  Detail & Related papers  (2026-08-09T19:08:56Z)
• Observer-Assisted Relative-Velocity Compensation with LPV-$H_\infty$ Robust Correction for 3D Trajectory Tracking of Underactuated Non-Minimum-Phase AUVs under Ocean Currents [0.0]
  This paper develops an observer-assisted control architecture for 3D trajectory tracking of torpedo-type underactuated AUVs.<n>A three-stage state-current observer provides relative-velocity estimates to a nonlinear feedforward term for dominant current rejection.<n>A singular-perturbation analysis proves local practical uniform ultimate boundedness on the embedded LPV model.
  arXiv  Detail & Related papers  (2026-07-26T13:35:06Z)
• Unsupervised Detection of Entry and Exit Regions from Vehicle Trajectories for Camera-Agnostic Turning Movement Counts [2.0689823177950397]
  unsupervised pipeline identifies entry and exit regions directly from raw vehicle trajectories.<n> pipeline clusters initial and terminal point locations to produce persistent spatial region.<n> pipeline exhibits greater stability across camera views and lower computational cost, at the expense of higher median error.
  arXiv  Detail & Related papers  (2026-07-12T22:38:57Z)
• Delay-Aware Active Triangulation with Uncertainty-Driven Multi-Agent Reinforcement Learning for Counter-UAS [5.4271995156436965]
  Multi-agent active visual triangulation enables precise 3D localization of aerial targets by coordinating mobile observers with controllable cameras.<n>We present a delay-aware, uncertainty-driven multi-agent reinforcement learning framework for target localization in Counter-UAS applications.
  arXiv  Detail & Related papers  (2026-07-07T07:58:13Z)
• LLM-Empowered Multimodal Fusion Framework for Autonomous Driving: Semantic Enhancement and Channel-Adaptive Design [56.76240343283953]
  We propose a Large Language Model-centric Semantic-layer Channel-aware Integrated Perception framework.<n>It fuses a local visual stream with a quality-varying external radar stream used to cover perception-blind spots.<n>Experiments on nuScenes and VIRAT validate our approach.
  arXiv  Detail & Related papers  (2026-07-02T06:44:02Z)
• NaviCache: Test-Time Self-Calibration Caching for Video Generation [82.90113757454375]
  NaviCache is a test-time self-calibration method for Video Diffusion Models.<n>It bridges the fundamental domain gap and the non-stationary nature of diffusion.<n>It provides a theoretically grounded mechanism for error-bounded skipping.
  arXiv  Detail & Related papers  (2026-06-25T09:28:12Z)
• Guided Diffusion with Distilled Vision-Language Reliability for Aerial Navigation [2.186077977059593]
  We present a reliability-aware diffusion planner for 3D UAV navigation.<n>It conditions trajectory generation on the observation together with a scene-level reliability heatmap.<n>To generalise to unseen environments without retraining, we steer the denoising process with a differentiable two-stage ESDF cost.
  arXiv  Detail & Related papers  (2026-06-11T20:18:34Z)
• Edge-Efficient Two-Stream Multimodal Architecture for Non-Intrusive Bathroom Fall Detection [2.669350701173451]
  Falls in wet bathroom environments are a major safety risk for seniors living alone.<n>Recent work has shown that mmWave-only, vibration-only, and existing multimodal schemes can support privacy-preserving, non-intrusive fall detection.<n>We propose a two-stream architecture that encodes radar signals with a Motion--Mamba branch for long-range motion patterns and processes floor vibration.
  arXiv  Detail & Related papers  (2026-03-17T18:54:21Z)
• Environment-Aware Channel Inference via Cross-Modal Flow: From Multimodal Sensing to Wireless Channels [45.969793510760645]
  This treatise investigates pilot-free channel inference that estimates complete CSI directly from multimodal observations.<n>We develop a data-driven framework that formulates the sensing-to-channel mapping as a cross-modal flow matching problem.<n>In experiments, we build a procedural data generator based on Sionna and Blender to support realistic modeling of sensing scenes and wireless propagation.
  arXiv  Detail & Related papers  (2025-12-04T16:35:09Z)
• Homography Guided Temporal Fusion for Road Line and Marking Segmentation [73.47092021519245]
  Road lines and markings are frequently occluded in the presence of moving vehicles, shadow, and glare. We propose a Homography Guided Fusion (HomoFusion) module to exploit temporally-adjacent video frames for complementary cues. We show that exploiting available camera intrinsic data and ground plane assumption for cross-frame correspondence can lead to a light-weight network with significantly improved performances in speed and accuracy.
  arXiv  Detail & Related papers  (2024-04-11T10:26:40Z)
• Correlating sparse sensing for large-scale traffic speed estimation: A Laplacian-enhanced low-rank tensor kriging approach [76.45949280328838]
  We propose a Laplacian enhanced low-rank tensor (LETC) framework featuring both lowrankness and multi-temporal correlations for large-scale traffic speed kriging. We then design an efficient solution algorithm via several effective numeric techniques to scale up the proposed model to network-wide kriging.
  arXiv  Detail & Related papers  (2022-10-21T07:25:57Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.