How to Predict Lanes in Autopilot

John Emmons: In the early days of Autopilot, we modeled the lane detection problem as an image space instance segmentation task. But today, we're trying to build a system that's capable of much more complex maneuvers. We want to make left and right turns at intersections where the road topology can be quite a bit more complex and diverse. So what we really want to do is to convert this dense tensor into a smart set of lanes in their connectivity. The first two components produce a dense tensor that sort of encodes the world.

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