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Angular-to-Cartesian projection distortions have long bottlenecked spherical 3D perception, but explicitly modulating voxel features with spherical range-azimuth geometry outperforms top surround-view models like SurroundOcc and TPVFormer across varied wild environments.
HGeo-TopoMap achieves remarkable gains in topological mapping accuracy and robustness, tackling the elusive challenge of centerline detection in autonomous driving.
