Online mapping models show remarkable results in predicting vectorized maps from multi-view camera images only. However, all existing approaches still rely on ground-truth high-definition maps during training, which are expensive to obtain and often not geographically diverse enough for reliable generalization. In this work, we propose PseudoMapTrainer, a novel approach to online mapping that uses pseudo-labels generated from unlabeled sensor data. We derive those pseudo-labels by reconstructing the road surface from multi-camera imagery using Gaussian splatting and semantics of a pre-trained 2D segmentation network. In addition, we introduce a mask-aware assignment algorithm and loss function to handle partially masked pseudo-labels, allowing for the first time the training of online mapping models without any ground-truth maps. Furthermore, our pseudo-labels can be effectively used to pre-train an online model in a semi-supervised manner to leverage large-scale unlabeled crowdsourced data. The code is available at github.com/boschresearch/PseudoMapTrainer.
@article{arxiv.2508.18788,
title = {PseudoMapTrainer: Learning Online Mapping without HD Maps},
author = {Christian Löwens and Thorben Funke and Jingchao Xie and Alexandru Paul Condurache},
journal= {arXiv preprint arXiv:2508.18788},
year = {2025}
}