{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/a-perception-centred-self-driving-system","title":"A perception centred self-driving system without HD Maps","arxiv_id":"2009.00782","date":"2020-09-02","proceeding":null,"authors":["Alan Sun"],"abstract":"Building a fully autonomous self-driving system has been discussed for more than 20 years yet remains unsolved. Previous systems have limited ability to scale. Their localization subsystem needs labor-intensive map recording for running in a new area, and the accuracy decreases after the changes occur in the environment. In this paper, a new localization method is proposed to solve the scalability problems, with a new method for detecting and making sense of diverse traffic lines. Like the way human drives, a self-driving system should not rely on an exact position to travel in most scenarios. As a result, without HD Maps, GPS or IMU, the proposed localization subsystem relies only on detecting driving-related features around (like lane lines, stop lines, and merging lane lines). For spotting and reasoning all these features, a new line detector is proposed and tested against multiple datasets.","url_abs":"https://arxiv.org/abs/2009.00782v2","url_pdf":"https://arxiv.org/pdf/2009.00782v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"a-perception-centred-self-driving-system","repo_url":"https://github.com/larksq/lane_detector_for_KITTI","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[{"method_slug":"gps","method_name":"GPS"},{"method_slug":null,"method_name":"Travel"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}