相关论文: HisTrackMap: Global Vectorized High-Definition Map…
High-definition (HD) maps are crucial to autonomous driving, providing structured representations of road elements to support navigation and planning. However, existing query-based methods often employ random query initialization and depend…
Vectorized high-definition (HD) maps are essential for an autonomous driving system. Recently, state-of-the-art map vectorization methods are mainly based on DETR-like framework to generate HD maps in an end-to-end manner. In this paper, we…
High-definition (HD) map provides abundant and precise static environmental information of the driving scene, serving as a fundamental and indispensable component for planning in autonomous driving system. In this paper, we present…
High-definition (HD) maps are essential for autonomous driving systems. Traditionally, an expensive and labor-intensive pipeline is implemented to construct HD maps, which is limited in scalability. In recent years, crowdsourcing and online…
To reduce the reliance on high-definition (HD) maps, a growing trend in autonomous driving is leveraging onboard sensors to generate vectorized maps online. However, current methods are mostly constrained by processing only single-frame…
Safety constitutes a foundational imperative for autonomous driving systems, necessitating maximal incorporation of accessible prior information. This study establishes that temporal perception buffers and cost-efficient high-definition…
The integration of GNSS data into portable devices has led to the generation of vast amounts of trajectory data, which is crucial for applications such as map-matching. To tackle the limitations of rule-based methods, recent works in deep…
For scalable autonomous driving, a robust map-based localization system, independent of GPS, is fundamental. To achieve such map-based localization, online high-definition (HD) map construction plays a significant role in accurate…
Autonomous driving perceives surroundings with line-of-sight sensors that are compromised under environmental uncertainties. To achieve real time global information in high definition map, we investigate to share perception information…
This paper presents a vector HD-mapping algorithm that formulates the mapping as a tracking task and uses a history of memory latents to ensure consistent reconstructions over time. Our method, MapTracker, accumulates a sensor stream into…
Temporal information is crucial for detecting occluded instances. Existing temporal representations have progressed from BEV or PV features to more compact query features. Compared to these aforementioned features, predictions offer the…
Vectorized high-definition (HD) maps contain detailed information about surrounding road elements, which are crucial for various downstream tasks in modern autonomous vehicles, such as motion planning and vehicle control. Recent works…
High-definition (HD) map is a fundamental component of autonomous driving systems, as it can provide precise environmental information about driving scenes. Recent work on vectorized map generation could produce merely 65% local map…
While recent online HD mapping methods relieve burdened offline pipelines and solve map freshness, they remain limited by perceptual inaccuracies, occlusion in dense traffic, and an inability to fuse multi-agent observations. We propose…
Vectorized high-definition (HD) map is essential for autonomous driving, providing detailed and precise environmental information for advanced perception and planning. However, current map vectorization methods often exhibit deviations, and…
Autonomous driving systems require High-Definition (HD) semantic maps to navigate around urban roads. Existing solutions approach the semantic mapping problem by offline manual annotation, which suffers from serious scalability issues.…
Visual tracking has made significant improvements in the past few decades. Most existing state-of-the-art trackers 1) merely aim for performance in ideal conditions while overlooking the real-world conditions; 2) adopt the…
For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…
The perception of high-definition maps is an integral component of environmental perception in autonomous driving systems. Existing research have often focused on online construction of high-definition maps. For instance, the Maptr[9]…
Most autonomous cars rely on the availability of high-definition (HD) maps. Current research aims to address this constraint by directly predicting HD map elements from onboard sensors and reasoning about the relationships between the…