RoMe: Towards Large Scale Road Surface Reconstruction via Mesh Representation
Ruohong Mei, Wei S, Jiaxin Zhang, Xue Qin, Gang Wang, Tao Peng, Tao Chen, Cong Yang
Abstract
In autonomous driving applications, accurate and efficient road surface reconstruction is paramount. This paper introduces RoMe, a novel framework designed for the robust reconstruction of large-scale road surfaces. Leveraging a unique mesh representation, RoMe ensures that the reconstructed road surfaces are accurate and seamlessly aligned with semantics. To address challenges in computational efficiency, we propose a waypoint sampling strategy, enabling RoMe to reconstruct vast environments by focusing on sub-areas and subsequently merging them. Furthermore, we incorporate an extrinsic optimization module to enhance the robustness against inaccuracies in extrinsic calibration. Our extensive evaluations of both public datasets and wild data underscore RoMe's superiority in terms of speed, accuracy, and robustness. For instance, it costs only 2 GPU hours to recover a road surface of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$600\times 600$</tex-math></inline-formula> square meters from thousands of images. Notably, RoMe's capability extends beyond mere reconstruction, offering significant value for auto-labeling tasks in autonomous driving applications.