HD Map Construction on nuScenes (val)
78.3mAPGaussianMap
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| GaussianMapModality=C & L, Epoch=242026.06 | 78.3 | 74.4 | 78.1 | 82.3 | — | |
| RoboMapModality=C & L, Epoch=242026.06 | 77 | 74.6 | 74.5 | 82 | — | |
| MapQR+DAMap†Modality=C & L, Epoch=242026.06 | 75.2 | 71.6 | 75.6 | 78.4 | — | |
| HIMapModality=C & L, Epoch=242026.06 | 74.3 | 71 | 72.4 | 79.4 | — | |
| MapQR†Modality=C & L, Epoch=242026.06 | 72.9 | 70.6 | 71 | 77.1 | — | |
| MGMapModality=C & L, Epoch=242026.06 | 71.7 | 67.7 | 71.1 | 76.2 | — | |
| ADMapModality=C & L, Epoch=242026.06 | 70.8 | 68 | 69 | 75.2 | — | |
| GaussianMapModality=C, Epoch=242026.06 | 70.5 | 68.1 | 72.2 | 71.3 | — | |
| GeMapModality=C & L, Epoch=1102026.06 | 70.4 | 68 | 69.8 | 73.4 | — | |
| MapTRv2Modality=C & L, Epoch=242026.06 | 69 | 65.6 | 66.5 | 74.8 | — | |
| MapQR+DAMapModality=C, Epoch=242026.06 | 68.8 | 65.2 | 70.8 | 70.3 | — | |
| RelMapModality=C, Epoch=242026.06 | 68.4 | 66.3 | 70.5 | 68.4 | — | |
| HIMapModality=C, Epoch=302026.06 | 66.7 | 62.6 | 68.4 | 69.1 | — | |
| SEF-MapModality=C & L, Epoch=242026.06 | 66.7 | 61.6 | 66.7 | 71.8 | — | |
| MapQRModality=C, Epoch=242026.06 | 66.4 | 63.4 | 68 | 67.7 | — | |
| MapFusionModality=C & L, Epoch=242026.06 | 66.1 | 61.6 | 64.4 | 72.5 | — | |
| MGMapModality=C, Epoch=242026.06 | 64.8 | 61.8 | 65 | 67.5 | — | |
| RefDiffMapModality=C, Epoch=242026.06 | 64.3 | 64.6 | 64 | 64.3 | — | |
| MapVRModality=C & L, Epoch=242026.06 | 63.5 | 60.4 | 62.7 | 67.2 | — | |
| ARETETrain Split=nuScenes + Internal2026.04 | 63 | — | 60.4 | — | 65.5 | |
| ADMapModality=C, Epoch=242026.06 | 62.9 | 61.9 | 63.5 | 63.3 | — | |
| ARETETrain Split=nuScenes2026.04 | 62.5 | — | 60.8 | — | 64.2 | |
| MapTRModality=C & L, Epoch=242026.06 | 62.5 | 55.9 | 62.3 | 69.3 | — | |
| HeightMapNetModality=C, Epoch=242026.06 | 61.7 | 60.4 | 62.6 | 62.2 | — | |
| MapTRv2Modality=C, Epoch=242026.06 | 61.5 | 59.8 | 62.4 | 62.4 | — | |
| ARETETrain Split=nuScenes + nuPlan2026.04 | 60.2 | — | 58.5 | — | 61.8 | |
| BeMapNetModality=C, Epoch=302026.06 | 59.8 | 57.7 | 62.3 | 59.4 | — | |
| NeRP3DModality=C, Pre-train=Ours, Epochs=242026.03 | 59.1 | 52.9 | 62.2 | 62.2 | — | |
| UVTR-CModality=C, Pre-train=UniPAD, Epochs=242026.03 | 57.8 | 54.8 | 58.5 | 61.5 | — | |
| PivotNetModality=C, Epoch=242026.06 | 57.6 | 56.2 | 56.5 | 60.1 | — | |
| TPVFormerModality=C, Pre-train=SelfOcc, Epochs=242026.03 | 53.9 | 47.8 | 55.6 | 58.3 | — | |
| VectorMapNetModality=C & L, Epoch=1102026.06 | 53.7 | 48.2 | 60.1 | 53 | — | |
| MapVRModality=C, Epoch=242026.06 | 51.2 | 47.7 | 54.4 | 51.4 | — | |
| MapTRModality=C, Epoch=242026.06 | 50.3 | 46.3 | 51.5 | 53.1 | — | |
| MapTR-tinyModality=C, Pre-train=ImageNet, Epochs=242026.03 | 49.9 | 52 | 45.3 | 52.4 | — | |
| VectorMapNetModality=C, Epoch=1102026.06 | 46 | 42.5 | 51.4 | 44.1 | — | |
| VectorMapNetModality=C & L, Pre-train=ImageNet, Epochs=1102026.03 | 45.2 | 37.6 | 50.5 | 47.5 | — | |
| VectorMapNetModality=C, Pre-train=ImageNet, Epochs=1102026.03 | 40.9 | 36.1 | 47.3 | 39.3 | — | |
| VectorMapNetModality=L, Pre-train=ImageNet, Epochs=1102026.03 | 34 | 25.7 | 37.6 | 38.6 | — | |
| HDMapNetModality=C & L, Pre-train=ImageNet, Epochs=302026.03 | 31 | 16.3 | 29.6 | 46.7 | — | |
| HDMapNetModality=C & L, Epoch=302026.06 | 31 | 16.3 | 29.6 | 46.7 | — | |
| HDMapNetModality=L, Pre-train=ImageNet, Epochs=302026.03 | 24.1 | 10.4 | 24.1 | 37.9 | — | |
| HDMapNetModality=C, Pre-train=ImageNet, Epochs=302026.03 | 23 | 14.4 | 21.7 | 33 | — | |
| HDMapNetModality=C, Epoch=302026.06 | 23 | 14.4 | 21.7 | 33 | — |