Online HD Map Construction on nuScenes (geographic leakage-free split)
48.6AP DividerD2HDMap
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| D2HDMapPerception Range=60 m × 30 m2026.06 | 48.6 | — | — | — | — | — | — | — | — | 22.4 | 63.3 | 44.8 | |
| AerialFusionMapNetInput=C + AID, FPS=17.72026.06 | 35.3 | — | — | — | — | — | — | — | — | 73.7 | 55.2 | 54.7 | |
| AID4AD StreamMapNetInput=C + AID, FPS=18.12026.06 | 32.9 | — | — | — | — | — | — | — | — | 59.9 | 53.6 | 48.8 | |
| MapDiffusionPerception Range=60 m × 30 m2026.06 | 31.4 | — | — | — | — | — | — | — | — | 32.9 | 42.4 | 35.6 | |
| NavMapFusionInput=C + SD2026.06 | 30.7 | — | — | — | — | — | — | — | — | 31.8 | 44.4 | 35.6 | |
| MapTrackerInput=C, FPS=12.52026.06 | 30 | — | — | — | — | — | — | — | — | 45.9 | 45.1 | 40.3 | |
| StreamMapNetInput=C, FPS=18.52026.06 | 29.3 | — | — | — | — | — | — | — | — | 32.2 | 40.8 | 34.1 | |
| StreamMapNet-CVSInput=C + AID*, FPS=18.52026.06 | 29.1 | — | — | — | — | — | — | — | — | 41.1 | 45.1 | 38.4 | |
| MapTRv2Perception Range=60 m × 30 m2026.06 | 28.7 | — | — | — | — | — | — | — | — | 16.2 | 44.8 | 29.9 | |
| SQD-MapNetPerception Range=60 m × 30 m2026.06 | 27.4 | — | — | — | — | — | — | — | — | 31.6 | 40.4 | 33.1 | |
| StreamMapNetPerception Range=60 m × 30 m2026.06 | 27.3 | — | — | — | — | — | — | — | — | 31.2 | 42.8 | 33.8 | |
| MGMapPerception Range=60 m × 30 m2026.06 | 25.6 | — | — | — | — | — | — | — | — | 7.9 | 37.4 | 23.7 | |
| MapTRPerception Range=60 m × 30 m2026.06 | 23 | — | — | — | — | — | — | — | — | 7.5 | 35.8 | 22.1 | |
| MapVRPerception Range=60 m × 30 m2026.06 | 22.6 | — | — | — | — | — | — | — | — | 10.1 | 35.7 | 22.8 | |
| VectorMapNetPerception Range=60 m × 30 m2026.06 | 17 | — | — | — | — | — | — | — | — | 15.8 | 21.2 | 18 | |
| MapTrackerRange=R60 (60×30 m)2026.05 | — | 44.1 | 28.8 | 44 | 39 | 24.2 | 13 | 29.5 | 22.2 | — | — | — | |
| MapTrackerRange=R100 (100×50 m)2026.05 | — | 45.5 | 23.5 | 38.1 | 35.7 | 14.7 | 4 | 8.5 | 9.1 | — | — | — | |
| MapTRv2Range=R60 (60×30 m)2026.05 | — | 12.7 | 26.2 | 44.5 | 27.8 | 5.2 | 10.7 | 29.2 | 15 | — | — | — | |
| MapTRv2Range=R100 (100×50 m)2026.05 | — | 8.1 | 17.4 | 29.3 | 18.3 | 1.7 | 2 | 5.1 | 2.9 | — | — | — | |
| StreamMapNetRange=R60 (60×30 m)2026.05 | — | 31.6 | 28.3 | 40.7 | 33.5 | 15 | 13.2 | 25.7 | 18 | — | — | — | |
| StreamMapNetRange=R100 (100×50 m)2026.05 | — | 24.9 | 16.7 | 24.1 | 21.9 | 3.6 | 2 | 3.6 | 3.1 | — | — | — |