{"id":"https://openalex.org/W4410852505","doi":"https://doi.org/10.1109/lra.2025.3574978","title":"SEPT: Standard-Definition Map Enhanced Scene Perception and Topology Reasoning for Autonomous Driving","display_name":"SEPT: Standard-Definition Map Enhanced Scene Perception and Topology Reasoning for Autonomous Driving","publication_year":2025,"publication_date":"2025-05-29","ids":{"openalex":"https://openalex.org/W4410852505","doi":"https://doi.org/10.1109/lra.2025.3574978"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3574978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3574978","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052963938","display_name":"Muleilan Pei","orcid":"https://orcid.org/0000-0002-7721-6251"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Muleilan Pei","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-7721-6251","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091000644","display_name":"Jiayao Shan","orcid":"https://orcid.org/0000-0001-8840-877X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiayao Shan","raw_affiliation_strings":["Zhuoyu Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8840-877X","affiliations":[{"raw_affiliation_string":"Zhuoyu Technology, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016925825","display_name":"Peiliang Li","orcid":"https://orcid.org/0000-0001-5839-8777"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peiliang Li","raw_affiliation_strings":["Zhuoyu Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-5839-8777","affiliations":[{"raw_affiliation_string":"Zhuoyu Technology, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061924094","display_name":"Jieqi Shi","orcid":"https://orcid.org/0000-0002-1223-191X"},"institutions":[{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jieqi Shi","raw_affiliation_strings":["State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-1223-191X","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China","institution_ids":["https://openalex.org/I881766915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066091819","display_name":"Jing Huo","orcid":"https://orcid.org/0000-0002-8504-455X"},"institutions":[{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Huo","raw_affiliation_strings":["State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-8504-455X","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China","institution_ids":["https://openalex.org/I881766915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074250521","display_name":"Yang Gao","orcid":"https://orcid.org/0000-0002-2488-1813"},"institutions":[{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Gao","raw_affiliation_strings":["State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-2488-1813","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China","institution_ids":["https://openalex.org/I881766915"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001947944","display_name":"Shaojie Shen","orcid":"https://orcid.org/0000-0002-5573-2909"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shaojie Shen","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-5573-2909","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8699,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.85666756,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"10","issue":"7","first_page":"7126","last_page":"7133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6497665643692017},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5230206847190857},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5027811527252197},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40836548805236816},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3824252188205719},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.3184623718261719},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17123812437057495},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.056553542613983154}],"concepts":[{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6497665643692017},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5230206847190857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5027811527252197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40836548805236816},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3824252188205719},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.3184623718261719},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17123812437057495},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.056553542613983154},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3574978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3574978","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-148871","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-148871","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1989750313","https://openalex.org/W2531409750","https://openalex.org/W2752782242","https://openalex.org/W2760103357","https://openalex.org/W2910440362","https://openalex.org/W2989604896","https://openalex.org/W3012573144","https://openalex.org/W3108486966","https://openalex.org/W3179351458","https://openalex.org/W4214549494","https://openalex.org/W4225793049","https://openalex.org/W4289950755","https://openalex.org/W4383108505","https://openalex.org/W4385245566","https://openalex.org/W4386076400","https://openalex.org/W4390872423","https://openalex.org/W4400646215","https://openalex.org/W4401416505","https://openalex.org/W4401810286","https://openalex.org/W4404770207","https://openalex.org/W4405787067","https://openalex.org/W4405787150","https://openalex.org/W6763422710","https://openalex.org/W6801880476","https://openalex.org/W6843220696","https://openalex.org/W6851586984","https://openalex.org/W6851648781","https://openalex.org/W6857411155","https://openalex.org/W6860180705","https://openalex.org/W6868943041","https://openalex.org/W6872931121","https://openalex.org/W6873273675","https://openalex.org/W6874065329"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Online":[0],"scene":[1,36,70,153,176],"perception":[2,95,177],"and":[3,74,96,119,129,178],"topology":[4,179],"reasoning":[5,78,97],"are":[6],"critical":[7],"for":[8,17],"autonomous":[9],"vehicles":[10],"to":[11,23,48,84,140],"understand":[12],"their":[13],"driving":[14,19],"environments,":[15],"particularly":[16],"mapless":[18],"systems":[20],"that":[21,108,164],"endeavor":[22],"reduce":[24],"reliance":[25],"on":[26,158],"costly":[27],"High-Definition":[28],"(HD)":[29],"maps.":[30],"However,":[31],"recent":[32],"advances":[33],"in":[34,42],"online":[35],"understanding":[37,154],"still":[38],"face":[39],"limitations,":[40],"especially":[41],"long-range":[43],"or":[44],"occluded":[45],"scenarios,":[46],"due":[47],"the":[49,87,136,151,159],"inherent":[50],"constraints":[51],"of":[52],"onboard":[53],"sensors.":[54],"To":[55],"address":[56],"this":[57],"challenge,":[58],"we":[59,100,134],"propose":[60],"a":[61,102,185],"<underline":[62,67,71,75],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[63,68,72,76],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">S</u>tandard-Definition":[64],"(SD)":[65],"Map":[66],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">E</u>nhanced":[69],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">P</u>erception":[73],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">T</u>opology":[77],"(SEPT)":[79],"framework,":[80],"which":[81,148],"explores":[82],"how":[83],"effectively":[85,166],"incorporate":[86],"SD":[88,110,127,137,168],"map":[89,138,169],"as":[90],"prior":[91],"knowledge":[92],"into":[93],"existing":[94,182],"pipelines.":[98],"Specifically,":[99],"introduce":[101],"novel":[103],"hybrid":[104],"feature":[105,131],"fusion":[106],"strategy":[107],"combines":[109],"maps":[111,128],"with":[112],"Bird's-Eye-View":[113],"(BEV)":[114],"features,":[115],"considering":[116],"both":[117,175],"rasterized":[118],"vectorized":[120],"representations,":[121],"while":[122],"mitigating":[123],"potential":[124],"misalignment":[125],"between":[126],"BEV":[130],"spaces.":[132],"Additionally,":[133],"leverage":[135],"characteristics":[139],"design":[141],"an":[142],"auxiliary":[143],"intersection-aware":[144],"keypoint":[145],"detection":[146],"task,":[147],"further":[149],"enhances":[150],"overall":[152],"performance.":[155],"Experimental":[156],"results":[157],"large-scale":[160],"OpenLane-V2":[161],"dataset":[162],"demonstrate":[163],"by":[165,184],"integrating":[167],"priors,":[170],"our":[171],"framework":[172],"significantly":[173],"improves":[174],"reasoning,":[180],"outperforming":[181],"methods":[183],"substantial":[186],"margin.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
