notesum.ai

Published at November 17

Unveiling 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)

Arxiv: http://arxiv.org/abs/2411.11002v1

Refer to caption

Range	Method	nuScenes						Argoverse2
Range	Method	Epoch	AP_p	AP_d	AP_b	mAP	FPS	Epoch	AP_p	AP_d	AP_b	mAP
60 $\times$ 30 $m$	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 $\times$ 50 $m$	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