Xianbiao Hu

Confidence-Gated Topology Reasoning with Fiducial Marker Priors for Occlusion-Robust Lane Graph Prediction

Accurate lane topology perception is crucial for safe autonomous driving, yet vision-based models such as BEVFormer and TopoNet degrade under heavy occlusion and other visibility degradations (e.g., ambiguous road markings). Existing approaches augment vision with global priors like Standard Definit…