notesum.ai
Published at November 17Unveiling the Hidden: Online Vectorized HD Map Construction with Clip-Level Token Interaction and Propagation
cs.CV
cs.AI
Released Date: November 17, 2024
Authors: Nayeon Kim1, Hongje Seong1, Daehyun Ji1, Sujin Jang1
Aff.: 1Samsung Advanced Institute of Technology (SAIT)

| Range | Method | nuScenes | Argoverse2 | |||||||||
| Epoch | APp | APd | APb | mAP | FPS | Epoch | APp | APd | APb | mAP | ||
| 60 30 | MapTR[ICLR’23] [22] | 24 | 46.3 | 51.5 | 53.1 | 50.3 | 16.7* | 6 | 54.7 | 58.1 | 56.7 | 56.5 |
| MapVR[NeurIPS’23] [47] | 24 | 47.7 | 54.4 | 51.4 | 51.2 | 16.7* | - | 54.6 | 60.0 | 58.0 | 57.5 | |
| GeMap[ECCV’24] [49] | 24 | 49.2 | 53.6 | 54.8 | 52.6 | 13.2* | - | - | - | - | - | |
| PivotNet[ICCV’23] [9] | 24 | 56.2 | 56.5 | 60.1 | 57.6 | 11.1* | - | - | - | - | - | |
| BeMapNet[CVPR’23] [33] | 30 | 57.7 | 62.3 | 59.4 | 59.8 | 9.7* | - | - | - | - | - | |
| MapTRv2[IJCV’24] [23] | 24 | 59.8 | 62.4 | 62.4 | 61.5 | 15.6 | 6 | 62.9 | 72.1 | 67.1 | 67.4 | |
| StreamMapNet[WACV’24] [46] | 24 | - | - | - | 62.9 | 12.5* | 6 | 62.0 | 59.5 | 63.0 | 61.5 | |
| SQD-MapNet[preprint] [41] | 24 | 63.0 | 62.5 | 63.3 | 63.9 | - | 6 | 64.9 | 60.2 | 64.9 | 63.3 | |
| MGMap[CVPR’24] [25] | 24 | 61.8 | 65.0 | 67.5 | 64.8 | 12.3* | - | - | - | - | - | |
| MapQR[ECCV’24] [27] | 24 | 63.4 | 68.0 | 67.7 | 66.4 | 14.2* | 6 | 64.3 | 72.3 | 68.1 | 68.2 | |
| HIMap[CVPR’24] [51] | 30 | 62.6 | 68.4 | 69.1 | 66.7 | 9.7* | 6 | 69.0 | 69.5 | 70.3 | 69.6 | |
| MapUnveiler (ours) | 24 | 67.6 | 67.6 | 68.8 | 68.0 | 12.7 | 6 | 68.9 | 73.7 | 68.9 | 70.5 | |
| 100 50 | MapTR[ICLR’23] [22] | 24 | 45.5 | 47.1 | 43.9 | 45.5 | 16.7* | 6 | - | - | - | 47.5 |
| MapTRv2[IJCV’24] [23] | 24 | 58.1 | 61.0 | 56.6 | 58.6 | 15.6 | 6 | 66.2 | 61.4 | 54.1 | 60.6 | |
| StreamMapNet[WACV’24] [46] | 24 | 62.9 | 63.1 | 55.8 | 60.6 | 12.5* | 6 | - | - | - | 57.7 | |
| SQD-MapNet[preprint] [41] | 24 | 67.0 | 65.5 | 59.5 | 64.0 | - | 6 | 66.9 | 54.9 | 56.1 | 59.3 | |
| MapUnveiler (ours) | 24 | 68.0 | 70.0 | 68.2 | 68.7 | 12.7 | 6 | 69.7 | 67.1 | 59.3 | 65.4 | |