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HXMap / HRMapNet

[ECCV 2024] This is the official implementation of HRMapNet, maintaining and utilizing a low-cost global rasterized map to enhance online vectorized map perception.
https://arxiv.org/abs/2409.00620
MIT License
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question about ego pose in historical local map #15

Open SpriteLin-ZJU opened 5 days ago

SpriteLin-ZJU commented 5 days ago

Hi， I wonder if the ego pose is not accurate, leading to a misalignment in the historical local map, would it have an impact on the online map generation?

fishmarch commented 4 days ago

Hi! Yes, it will certainly affect the global map and the final results. But the model has a certain robustness to such pose error when the error is not large, please refer to the Sec.4.4 in our paper.