notesum.ai

Published at November 3

HeightMapNet: Explicit Height Modeling for End-to-End HD Map Learning

cs.CV

cs.AI

Released Date: November 3, 2024

Authors: Wenzhao Qiu¹, Shanmin Pang¹, Hao zhang¹, Jianwu Fang¹, Jianru Xue¹

Aff.: ¹Xi'an Jiaotong University

Arxiv: http://arxiv.org/abs/2411.01408v1

Refer to caption

Methods	Modality	Backbone	Epochs	$AP_{div.}$ $\uparrow$	$AP_{bou.}$ $\uparrow$	$AP_{ped.}$ $\uparrow$	$mAP$ $\uparrow$
HDMapNet [9]	C	EB0	30	0.217	0.330	0.144	0.230
HDMapNet [9]	C & L	EB0 & PPs	30	0.296	0.467	0.163	0.310
VectorMapNet [17]	C	R50	110	0.473	0.393	0.361	0.409
VectorMapNet [17]	C & L	R50 & PPs	110	0.505	0.475	0.376	0.452
MapTR^† [12]	C	R50	24	0.512^†	0.531^†	0.493^†	0.512^†
PivotNet [5]	C	R50	24	0.565	0.601	0.562	0.576
MapVR [35]	C	R50	110	0.618	0.594	0.550	0.588
MapTRv2^† [13]	C	R50	24	0.608^†	0.616^†	0.566^†	0.597^†
HeightMapNet	C	R50	24	0.628	0.604	0.543	0.591
HeightMapNet^∗	C	R50	24	0.626	0.622	0.604	0.617