VectorMapNet

This repo is the webpage code of VectorMapNet.

VectorMapNet: End-to-end Vectorized HD Map Learning

Yicheng Liu, Tianyuan Yuan, Yue Wang, Yilun Wang, Hang Zhao

[Paper] [Project Page] [Code]

Abstract: 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. Recent learning-based methods produce dense rasterized segmentation predictions to construct maps. However, these predictions do not include instance information of individual map elements and require heuristic post-processing to obtain vectorized maps. To tackle these challenges, we introduce an end-to-end vectorized HD map learning pipeline, termed VectorMapNet. VectorMapNet takes onboard sensor observations and predicts a sparse set of polylines in the bird's-eye view. This pipeline can explicitly model the spatial relation between map elements and generate vectorized maps that are friendly to downstream autonomous driving tasks. Extensive experiments show that VectorMapNet achieve strong map learning performance on both nuScenes and Argoverse2 dataset, surpassing previous state-of-the-art methods by 14.2 mAP and 14.6mAP. Qualitatively, VectorMapNet is capable of generating comprehensive maps and capturing fine-grained details of road geometry. To the best of our knowledge, VectorMapNet is the first work designed towards end-to-end vectorized map learning from onboard observations.

Questions/Requests: Please file an issue or send an email to Yicheng.

Cite our work

If you find our work useful in your research, please cite our paper:

@inproceedings{liu2022vectormapnet,
    title={VectorMapNet: End-to-end Vectorized HD Map Learning},
    author={Liu, Yicheng and Yuan, Tianyuan and Wang, Yue and Wang, Yilun and Zhao, Hang},
    booktitle={International conference on machine learning},
    year={2023},
    organization={PMLR}
}