awesome-hd-map-construction 
A curated list of awesome HD map construction methods. Inspired by awesome-self-supervised-learning.
Contributing
Please help contribute this list by creating an issue or adding pull request. Markdown format:
- [Model Name] Paper Name.
[[pdf]](link)
[[code]](link)
- Author 1, Author 2, and Author 3. *Conference Year*Table of Contents
Survey
2018
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Machine learning assisted high-definition map creation. [pdf]
- Jiao, Jialin. COMPSAC 2018
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High definition maps in urban context. [pdf]
- Zang, Andi and Chen, Xin and Trajcevski, Goce. Sigspatial Special 2018
2020
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Creation of high definition map for autonomous driving. [pdf]
- Tsushima, F and Kishimoto, N and Okada, Y and Che, W. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2020
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High definition map for automated driving: Overview and analysis. [pdf]
- Liu, Rong and Wang, Jinling and Zhang, Bingqi. The Journal of Navigation 2020
2021
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High-definition map update framework for intelligent autonomous transfer vehicles. [pdf]
- Tas, Muhammed Oguz and Yavuz, Hasan Serhan and Yazici, Ahmet. Journal of Experimental & Theoretical Artificial Intelligence 2021
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On Construction and Applications of High-Definition (HD) Maps. [pdf]
- Zhu, Yuanjie and Alrashid, Hussah and Bai, Song and Zhang, Chunhan and Zhang, Ziliang and Qu, Zhengyi and Magdy, Amr. personal website 2021
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High-definition map creation and update for autonomous driving. [pdf]
- Xia, Wanru. master thesis 2021
2022
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High definition map update for autonomous and connected vehicles: A survey. [pdf]
- Boubakri, Anis and Gammar, Sonia METTALI and Brahim, Mohamed BEN and Filali, Fethi. IWCMC 2022
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High-definition map generation technologies for autonomous driving: a review. [pdf]
- Bao, Zhibin and Hossain, Sabir and Lang, Haoxiang and Lin, Xianke. arXiv 2022
2023
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A review of high-definition map creation methods for autonomous driving. [pdf]
- Bao, Zhibin and Hossain, Sabir and Lang, Haoxiang and Lin, Xianke. Engineering Applications of Artificial Intelligence 2023
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High-definition maps: Comprehensive survey, challenges and future perspectives. [pdf]
- Elghazaly, Gamal and Frank, Raphaël and Harvey, Scott and Safko, Stefan. IEEE Open Journal of Intelligent Transportation Systems 2023
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High-Definition Maps Construction Based on Visual Sensor: A Comprehensive Survey. [pdf]
- Tang, Xuewei and Jiang, Kun and Yang, Mengmeng and Liu, Zhaoyang and Jia, Peijin and Wijaya, Benny and Wen, Tuopu and Cui, Le and Yang, Diange. IEEE Transactions on Intelligent Vehicles 2023
2024
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High precision map crowdsource update technology and SLAM technology-Application in autonomous driving. [pdf]
- Liu, Dapeng. J. Phys.: Conf. Ser. 2024
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A Review of Crowdsourcing Update Methods for High-Definition Maps. [pdf]
- Guo, Yuan and Zhou, Jian and Li, Xicheng and Tang, Youchen and Lv, Zhicheng. ISPRS Int. J. Geo-Inf. 2024
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On the Ecosystem of High-Definition (HD) Maps. [pdf]
- Zhuy, Yuanjie and Alrashid, Hussah and Bai, Song and Zhang, Chunhan and Zhang, Ziliang and Qu, Zhengyi and Ali, Reem Y and Magdy, Amr. ICDEW 2024
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High Definition Map Mapping and Update: A General Overview and Future Directions. [pdf]
- Wijaya, Benny and Jiang, Kun and Yang, Mengmeng and Wen, Tuopu and Wang, Yunlong and Tang, Xuewei and Fu, Zheng and Zhou, Taohua and Yang, Diange. arXiv 2024
Online HD map construction
2021
- [HDMapNet] Hdmapnet: An online hd map construction and evaluation framework.
[pdf]
[code]
- Li, Qi and Wang, Yue and Wang, Yilun and Zhao, Hang. ICRA 2022
2022
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[VectorMapNet] VectorMapNet: End-to-end Vectorized HD Map Learning. [pdf] [code]
- Liu, Yicheng and Yuan, Tianyuan and Wang, Yue and Wang, Yilun and Zhao, Hang. ICML 2023
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[MapTR] MapTR: Structured Modeling and Learning for Online Vectorized HD Map Construction. [pdf] [code]
- Liao, Bencheng and Chen, Shaoyu and Wang, Xinggang and Cheng, Tianheng, and Zhang, Qian and Liu, Wenyu and Huang, Chang. ICLR 2023
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[SuperFusion] SuperFusion: Multilevel LiDAR-Camera Fusion for Long-Range HD Map Generation. [pdf] [code]
- Dong, Hao and Zhang, Xianjing and Xu, Jintao and Ai, Rui and Gu, Weihao and Lu, Huimin and Kannala, Juho and Chen, Xieyuanli. arXiv 2022
2023
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[InstaGraM] InstaGraM: Instance-level Graph Modeling for Vectorized HD Map Learning. [pdf]
- Shin, Juyeb and Rameau, Francois and Jeong, Hyeonjun and Kum, Dongsuk. arXiv 2023
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[NMP] Neural Map Prior for Autonomous Driving. [pdf]
- Xiong, Xuan and Liu, Yicheng and Yuan, Tianyuan and Wang, Yue and Wang, Yilun and Zhao, Hang. CVPR 2023
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[MV-Map] MV-Map: Offboard HD-Map Generation with Multi-view Consistency. [pdf] [code]
- Xie, Ziyang and Pang, Ziqi and Wang, Yu-Xiong. ICCV 2023
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[MapSeg] MapSeg: Segmentation guided structured model for online HD map construction. [pdf]
- Jiang, Mingchao and Cheng, Yin and Liu, Linghai. arXiv 2023
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[BeMapNet] End-to-End Vectorized HD-Map Construction With Piecewise Bezier Curve. [pdf] [code]
- Qiao, Limeng and Ding, Wenjie and Qiu, Xi and Zhang, Chi. CVPR 2023
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[PolyDiffuse] PolyDiffuse: Polygonal Shape Reconstruction via Guided Set Diffusion Models. [pdf] [code]
- Chen, Jiacheng and Deng, Ruizhi and Furukawa, Yasutaka. NeurIPS 2023
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[NeMO] NeMO: Neural Map Growing System for Spatiotemporal Fusion in Bird's-Eye-View and BDD-Map Benchmark. [pdf]
- Zhu, Xi and Cao, Xiya and Dong, Zhiwei and Zhou, Caifa and Liu, Qiangbo and Li, Wei and Wang, Yongliang. arXiv 2023
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[MachMap] MachMap: End-to-End Vectorized Solution for Compact HD-Map Construction. [pdf]
- Qiao, Limeng and Zheng, Yongchao and Zhang, Peng and Ding, Wenjie and Qiu, Xi and Wei, Xing and Zhang, Chi. arXiv 2023
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[MapVR] Online Map Vectorization for Autonomous Driving: A Rasterization Perspective. [pdf] [code]
- Zhang, Gongjie and Lin, Jiahao and Wu, Shuang and Song, Yilin and Luo, Zhipeng and Xue, Yang and Lu, Shijian and Wang, Zuoguan. NeurIPS 2023
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[MapTRv2] MapTRv2: An End-to-End Framework for Online Vectorized HD Map Construction. [pdf] [code]
- Liao, Bencheng and Chen, Shaoyu and Zhang, Yunchi and Jiang, Bo and Zhang, Qian and Liu, Wenyu and Huang, Chang and Wang, Xinggang. arXiv 2023
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[InsightMapper] InsightMapper: A Closer Look at Inner-instance Information for Vectorized High-Definition Mapping. [pdf]
- Xu, Zhenhua and Wong, Kenneth KY and Zhao, Hengshuang. arXiv 2023
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[StreamMapNet] Streammapnet: Streaming mapping network for vectorized online hd map construction. [pdf] [code]
- Yuan, Tianyuan and Liu, Yicheng and Wang, Yue and Wang, Yilun and Zhao, Hang. WACV 2024
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[SatforHDMap] Complementing Onboard Sensors with Satellite Map: A New Perspective for HD Map Construction. [pdf] [code]
- Gao, Wenjie and Fu, Jiawei and Jing, Haodong and Zheng, Nanning. arXiv 2023
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[PivotNet] PivotNet: Vectorized Pivot Learning for End-to-end HD Map Construction. [pdf]
- Ding, Wenjie and Qiao, Limeng and Qiu, Xi and Zhang, Chi. ICCV 2023
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[ScalableMap] ScalableMap: Scalable Map Learning for Online Long-Range Vectorized HD Map Construction. [pdf] [code]
- Yu, Jingyi and Zhang, Zizhao and Xia, Shengfu and Sang, Jizhang. CoRL 2023
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[MapEX] Mind the map! Accounting for existing map information when estimating online HDMaps from sensor data. [pdf]
- Sun, Rémy and Yang, Li and Lingrand, Diane and Precioso, Frédéric. arXiv 2023
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[GeMap] Online Vectorized HD Map Construction using Geometry. [pdf] [code]
- Zhixin Zhang and Yiyuan Zhang and Xiaohan Ding and Fusheng Jin and Xiangyu Yue. arXiv 2023
2024
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[MapNeXt] MapNeXt: Revisiting Training and Scaling Practices for Online Vectorized HD Map Construction. [pdf]
- Li, Toyota. arXiv 2024
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[SQD-MapNet] Stream Query Denoising for Vectorized HD Map Construction. [pdf]
- Wang, Shuo and Jia, Fan and Liu, Yingfei and Zhao, Yucheng and Chen, Zehui and Wang, Tiancai and Zhang, Chi and Zhang, Xiangyu and Zhao, Feng. arXiv 2024
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[ADMap] ADMap: Anti-disturbance framework for reconstructing online vectorized HD map. [pdf] [code]
- Hu, Haotian and Wang, Fanyi and Wang, Yaonong and Hu, Laifeng and Xu, Jingwei and Zhang, Zhiwang. arXiv 2024
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[MapQR] Leveraging Enhanced Queries of Point Sets for Vectorized Map Construction. [pdf]
- Liu, Zihao and Zhang, Xiaoyu and Liu, Guangwei and Zhao, Ji and Xu, Ningyi. arXiv 2024
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[EAN-MapNet] EAN-MapNet: Efficient Vectorized HD Map Construction with Anchor Neighborhoods. [pdf]
- Xiong, Huiyuan and Shen, Jun and Zhu, Taohong and Pan, Yuelong. arXiv 2024
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[HIMap] HIMap: HybrId Representation Learning for End-to-end Vectorized HD Map Construction. [pdf]
- Zhou, Yi and Zhang, Hui and Yu, Jiaqian and Yang, Yifan and Jung, Sangil and Park, Seung-In and Yoo, ByungIn. CVPR 2024
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[PreSight] PreSight: Enhancing Autonomous Vehicle Perception with City-Scale NeRF Priors. [pdf]
- Yuan, Tianyuan and Mao, Yucheng and Yang, Jiawei and Liu, Yicheng and Wang, Yue and Zhao, Hang. arXiv 2024
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[P-MapNet] P-MapNet: Far-seeing Map Generator Enhanced by both SDMap and HDMap Priors. [pdf] [code]
- Jiang, Zhou and Zhu, Zhenxin and Li, Pengfei and Gao, Huan-ang and Yuan, Tianyuan and Shi, Yongliang and Zhao, Hang and Zhao, Hao. arXiv 2024
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[Buffered Gaussian Modeling] Buffered Gaussian Modeling for Vectorized HD Map Construction. [pdf]
- Shi, Anqi and Chen, Huaqiu and Lu, Hong and Zhang, Rui. ICASSP 2024
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[MapTracker] MapTracker: Tracking with Strided Memory Fusion for Consistent Vector HD Mapping. [pdf] [code]
- Chen, Jiacheng and Wu, Yuefan and Tan, Jiaqi and Ma, Hang and Furukawa, Yasutaka. arXiv 2024
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[MGMap] MGMap: Mask-Guided Learning for Online Vectorized HD Map Construction. [pdf]
- Liu, Xiaolu and Wang, Song and Li, Wentong and Yang, Ruizi and Chen, Junbo and Zhu, Jianke. arXiv 2024
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[SparseAD] SparseAD: Sparse Query-Centric Paradigm for Efficient End-to-End Autonomous Driving. [pdf]
- Zhang, Diankun and Wang, Guoan and Zhu, Runwen and Zhao, Jianbo and Chen, Xiwu and Zhang, Siyu and Gong, Jiahao and Zhou, Qibin and Zhang, Wenyuan and Wang, Ningzi and others. arXiv 2024
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[HybriMap] HybriMap: Hybrid Clues Utilization for Effective Vectorized HD Map Construction. [pdf]
- Zhang, Chi and Song, Qi and Li, Feifei and Chen, Yongquan and Huang, Rui. arXiv 2024
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[GNMap] Neural HD Map Generation from Multiple Vectorized Tiles Locally Produced by Autonomous Vehicles. [pdf]
- Fan, Miao and Yao, Yi and Zhang, Jianping and Song, Xiangbo and Wu, Daihui. SpatialDI 2024
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[DTCLMapper] DTCLMapper: Dual Temporal Consistent Learning for Vectorized HD Map Construction. [pdf]
- Li, Siyu and Lin, Jiacheng and Shi, Hao and Zhang, Jiaming and Wang, Song and Yao, You and Li, Zhiyong and Yang, Kailun. arXiv 2024
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[POP-Net] Camera-based Online Vectorized HD Map Construction with Incomplete Observation. [pdf]
- Liu, Hui and Chang, Faliang and Liu, Chunsheng and Lu, Yansha and Liu, Minhang. IEEE Robotics and Automation Letters 2024
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Exploring Real World Map Change Generalization of Prior-Informed HD Map Prediction Models. [pdf]
- Bateman, Samuel M and Xu, Ning and Zhao, H Charles and Ben Shalom, Yael and Gong, Vince and Long, Greg and Maddern, Will. CVPR 2024 Workshops
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[MapVision] MapVision: CVPR 2024 Autonomous Grand Challenge Mapless Driving Tech Report. [pdf]
- Yang, Zhongyu and Liu, Mai and Xie, Jinluo and Zhang, Yueming and Shen, Chen and Shao, Wei and Jiao, Jichao and Xing, Tengfei and Hu, Runbo and Xu, Pengfei. arXiv 2024
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[MapBench] Is Your HD Map Constructor Reliable under Sensor Corruptions?. [pdf] [code]
- Hao, Xiaoshuai and Wei, Mengchuan and Yang, Yifan and Zhao, Haimei and Zhang, Hui and Zhou, Yi and Wang, Qiang and Li, Weiming and Kong, Lingdong and Zhang, Jing. arXiv 2024
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[LGmap] LGmap: Local-to-Global Mapping Network for Online Long-Range Vectorized HD Map Construction. [pdf]
- Wu, Kuang and Nian, Sulei and Shen, Can and Yang, Chuan and Li, Zhanbin. arXiv 2024
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[MapBEVPrediction] Accelerating Online Mapping and Behavior Prediction via Direct BEV Feature Attention. [pdf] [code]
- Gu, Xunjiang and Song, Guanyu and Gilitschenski, Igor and Pavone, Marco and Ivanovic, Boris. arXiv 2024
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[Mask2Map] Vectorized HD Map Construction Using Bird's Eye View Segmentation Masks. [pdf]
- Choi, Sehwan and Kim, Jungho and Shin, Hongjae and Choi, Jun Won. arXiv 2024
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[LaneDAG] LaneDAG: Automatic HD Map Topology Generator Based on Geometry and Attention Fusion Mechanism. [pdf]
- Jia, Peijin and Wen, Tuopu and Luo, Ziang and Fu, Zheng and Liao, Jiaqi and Chen, Huixian and Jiang, Kun and Yang, Mengmeng and Yang, Diange. IEEE Intelligent Vehicles Symposium 2024
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[E-MLP] E-MLP: Effortless Online HD Map Construction with Linear Priors. [pdf]
- Li, Ruikai and Shan, Hao and Jiang, Han and Xiao, Jianru and Chang, Yizhuo and He, Yifan and Yu, Haiyang and Ren, Yilong. IEEE Intelligent Vehicles Symposium 2024
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[LaneMapNet] LaneMapNet: Lane Network Recognization and HD Map Construction Using Curve Region Aware Temporal Bird’s-Eye-View Perception. [pdf]
- Zhu, Tianyi and Leng, Jianghao and Zhong, Jiaru and Zhang, Zhang and Sun, Chao. IEEE Intelligent Vehicles Symposium 2024
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[UniHDMap] UniHDMap: Unified Lane Elements Detection for Topology HD Map Construction. [pdf]
- ZKou, Genghua and Jia, Fan and Wu, Dongming and Liu, Yingfei and Li, Ying and Wang, Tiancai. personal website 2024
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[MapDistill] MapDistill: Boosting Efficient Camera-based HD Map Construction via Camera-LiDAR Fusion Model Distillation. [pdf]
- Hao, Xiaoshuai and Li, Ruikai and Zhang, Hui and Li, Dingzhe and Yin, Rong and Jung, Sangil and Park, Seung-In and Yoo, ByungIn and Zhao, Haimei and Zhang, Jing. arXiv 2024
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[PrevPredMap] PrevPredMap: Exploring Temporal Modeling with Previous Predictions for Online Vectorized HD Map Construction. [pdf]
- Peng, Nan and Zhou, Xun and Wang, Mingming and Yang, Xiaojun and Chen, Songming and Chen, Guisong. arXiv 2024
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Enhancing Online Road Network Perception and Reasoning with Standard Definition Maps. [pdf]
- Zhang, Hengyuan and Paz, David and Guo, Yuliang and Das, Arun and Huang, Xinyu and Haug, Karsten and Christensen, Henrik I and Ren, Liu. IROS 2024
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[HRMapNet] Enhancing Vectorized Map Perception with Historical Rasterized Maps. [pdf] [code]
- Zhang, Xiaoyu and Liu, Guangwei and Liu, Zihao and Xu, Ningyi and Liu, Yunhui and Zhao, Ji. ECCV 2024
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[PriorMapNet] PriorMapNet: Enhancing Online Vectorized HD Map Construction with Priors. [pdf]
- Wang, Rongxuan and Lu, Xin and Liu, Xiaoyang and Zou, Xiaoyi and Cao, Tongyi and Li, Ying. arXiv 2024
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[HoMap] HoMap: End-to-End Vectorized HD Map Construction with High-order Modeling. [pdf]
- Cai, Yingfeng and Dong, Wei and Liu, Ze and Wang, Hai and Chen, Long. IEEE Transactions on Intelligent Vehicles 2024
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[PriorDrive] Driving with Prior Maps: Unified Vector Prior Encoding for Autonomous Vehicle Mapping. [pdf]
- Zeng, Shuang and Chang, Xinyuan and Liu, Xinran and Pan, Zheng and Wei, Xing. arXiv 2024
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[GenMapping] GenMapping: Unleashing the Potential of Inverse Perspective Mapping for Robust Online HD Map Construction. [pdf]
- Li, Siyu and Yang, Kailun and Shi, Hao and Wang, Song and Yao, You and Li, Zhiyong. arXiv 2024
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[GlobalMapNet] GlobalMapNet: An Online Framework for Vectorized Global HD Map Construction. [pdf] [code]
- Shi, Anqi and Cai, Yuze and Chen, Xiangyu and Pu, Jian and Fu, Zeyu and Lu, Hong. arXiv 2024
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[ExelMap] ExelMap: Explainable Element-based HD-Map Change Detection and Update. [pdf]
- Wild, Lena and Ericson, Ludvig and Valencia, Rafael and Jensfelt, Patric. arXiv 2024
HD map crowdsourcing
2017
- An end-to-end system for crowdsourced 3D maps for autonomous vehicles: The mapping component.
[pdf]
- Dabeer, Onkar and Ding, Wei and Gowaiker, Radhika and Grzechnik, Slawomir K and Lakshman, Mythreya J and Lee, Sean and Reitmayr, Gerhard and Sharma, Arunandan and Somasundaram, Kiran and Sukhavasi, Ravi Teja and others. IROS 2017
2020
- Crowdsourced 3D mapping: a combined multi-view geometry and self-supervised learning approach.
[pdf]
- Chawla, Hemang and Jukola, Matti and Brouns, Terence and Arani, Elahe and Zonooz, Bahram. IROS 2020
2023
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Recruiting Heterogeneous Crowdsource Vehicles for Updating a High-Definition Map. [pdf]
- Ye, Wentao and Luo, Yuan and Liu, Bo and Huang, Jianwei. WiOpt 2023
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Traffic Flow-Based Crowdsourced Mapping in Complex Urban Scenario. [pdf]
- Qin, Tong and Huang, Haihui and Wang, Ziqiang and Chen, Tongqing and Ding, Wenchao. IEEE Robotics and Automation Letters 2023
2024
- [MapCVV] MapCVV: On-cloud Map Construction Using Crowdsourcing Visual Vectorized Elements towards Autonomous Driving.
[pdf]
- Chen, Pengxin and Jiang, Xiaoqi and Zhang, Yingjun and Tan, Jiahao and Jiang, Rong. IEEE Robotics and Automation Letters 2024
HD map construction with human efforts
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[THMA] THMA: tencent HD Map AI system for creating HD map annotations. [pdf]
- Tang, Kun and Cao, Xu and Cao, Zhipeng and Zhou, Tong and Li, Erlong and Liu, Ao and Zou, Shengtao and Liu, Chang and Mei, Shuqi and Sizikova, Elena and others. AAAI 2023
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[VMA] VMA: Divide-and-Conquer Vectorized Map Annotation System for Large-Scale Driving Scene. [pdf] [code]
- Chen, Shaoyu and Zhang, Yunchi and Liao, Bencheng and Xie, Jiafeng and Cheng, Tianheng and Sui, Wei and Zhang, Qian and Huang, Chang and Liu, Wenyu and Wang, Xinggang. arXiv 2023
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Open HD map service model: an interoperable high-Definition map data model for autonomous driving. [pdf]
- Zhang, Fengyuan and Shi, Wenzhong and Chen, Min and Huang, Wei and Liu, Xintao. International Journal of Digital Earth 2023
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Multi-LiDAR Localization and Mapping Pipeline for Urban Autonomous Driving. [pdf]
- Sauerbeck, Florian and Kulmer, Dominik and Pielmeier, Markus and Leitenstern, Maximilian and Wei{\ss}, Christoph and Betz, Johannes. 2023 IEEE SENSORS*
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[FlexMap Fusion] FlexMap Fusion: Georeferencing and Automated Conflation of HD Maps with OpenStreetMap. [pdf] [code]
- Leitenstern, Maximilian and Sauerbeck, Florian and Kulmer, Dominik and Betz, Johannes. arXiv 2024
Lane detection
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[3D-LaneNet] 3D-LaneNet: End-to-End 3D Multiple Lane Detection. [pdf]
- Garnett, Noa and Cohen, Rafi and Pe'er, Tomer and Lahav, Roee and Levi, Dan. ICCV 2019
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[Gen-LaneNet] Gen-lanenet: A generalized and scalable approach for 3d lane detection. [pdf] [code]
- Guo, Yuliang and Chen, Guang and Zhao, Peitao and Zhang, Weide and Miao, Jinghao and Wang, Jingao and Choe, Tae Eun. ECCV 2020
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[STSU] Structured Bird's-Eye-View Traffic Scene Understanding From Onboard Images. [pdf] [code]
- Can, Yigit Baran and Liniger, Alexander and Paudel, Danda Pani and Van Gool, Luc. ICCV 2021
Misc
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[MapLite 2.0] MapLite 2.0: Online HD Map Inference Using a Prior SD Map. [pdf]
- Ort, Teddy and Walls, Jeffrey M. and Parkison, Steven A. and Gilitschenski, Igor and Rus, Daniela. IEEE Robotics and Automation Letters 2022
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[V2HDM-Mono] V2HDM-Mono: A Framework of Building a Marking-Level HD Map with One or More Monocular Cameras. [pdf]
- Liu, Hongji and Zheng, Linwei and Yan, Xiaoyang and Xu, Zhenhua and Xue, Bohuan and Yu, Yang and Liu, Ming. arXiv 2022
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Clothoid-Based Reference Path Reconstruction for HD Map Generation. [pdf]
- Zhang, Songyi and Wang, Runsheng and Jian, Zhiqiang and Zhan, Wei and Zheng, Nanning and Tomizuka, Masayoshi. IEEE Transactions on Intelligent Transportation Systems 2023
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[MIM4D] MIM4D: Masked Modeling with Multi-View Video for Autonomous Driving Representation Learning [pdf] [code]
- Zou, Jialv and Liao, Bencheng and Zhang, Qian and Liu, Wenyu and Wang, Xinggang. arXiv 2024
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To the extent possible under law, Honminden (Anqi Shi) has waived all copyright and related or neighboring rights to this work.