Online HD Mapping on nuScenes (val)
72.93mAPMapTracker
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| MapTrackerTemporal=true, Backbone=R502025.12 | 72.93 | 72.73 | 75.77 | 70.31 | 74.66 | 65.75 | 69.69 | 70.03 | 78.92 | 15.6 | |
| MapQR + UMPE (Ours)VP=true, RP=true, Backbone=R50, Epoch=24, #Param.(M)=139.5, FPS=7.072026.05 | 71.7 | 69 | 73.8 | 72.3 | — | — | — | — | — | — | |
| MapQR + Raster Encoder (Ours)VP=false, RP=true, Backbone=R50, Epoch=24, #Param.(M)=136.6, FPS=7.352026.05 | 71.4 | 68.7 | 73.4 | 72.2 | — | — | — | — | — | — | |
| MapQR + Vector Encoder (Ours)VP=true, RP=false, Backbone=R50, Epoch=24, #Param.(M)=128.3, FPS=7.262026.05 | 70.6 | 66.8 | 73.6 | 71.4 | — | — | — | — | — | — | |
| MapTrackerTemporal=true, Backbone=R182025.12 | 69.34 | 71.68 | 67.25 | 69.09 | 64.06 | 68.75 | 67.76 | 66.86 | 76.51 | 22.3 | |
| AMapTemporal=false, Backbone=R502025.12 | 69.26 | 69.97 | 70.13 | 67.67 | 65.09 | 74.48 | 71.01 | 70.19 | 69.61 | 20.1 | |
| MapTrackerTemporal=false, Backbone=R502025.12 | 68.3 | 68.21 | 69.71 | 67 | 64.33 | 73.25 | 69.83 | 69.3 | 69.47 | 20.1 | |
| MapTRv2 + UMPE (Ours)VP=true, RP=true, Backbone=R50&T&R18, Epoch=24, #Param.(M)=54.8, FPS=10.982026.05 | 67.4 | 66.6 | 67.2 | 68.2 | — | — | — | — | — | — | |
| MapTRv2 + Vector Encoder (Ours)VP=true, RP=false, Backbone=R50&T, Epoch=24, #Param.(M)=43.5, FPS=11.372026.05 | 66.8 | 63 | 68.6 | 68.8 | — | — | — | — | — | — | |
| MapTRv2 + Raster Encoder (Ours)VP=false, RP=true, Backbone=R50&R18, Epoch=24, #Param.(M)=51.8, FPS=11.362026.05 | 66.7 | 65.7 | 66.1 | 68.2 | — | — | — | — | — | — | |
| MapQRVP=false, RP=false, Backbone=R50, Epoch=24, #Param.(M)=125.0, FPS=7.722026.05 | 66.4 | 63.4 | 68 | 67.7 | — | — | — | — | — | — | |
| MapQRTemporal=false, Backbone=R502025.12 | 66.35 | 63.36 | 68.03 | 67.67 | 62.47 | 71.2 | 71.47 | 68.38 | 65.59 | 12.4 | |
| MapTRv2 + PriorDriveVP=true, RP=false, Backbone=R50&T, Epoch=24, #Param.(M)=43.42026.05 | 65.1 | 61.5 | 65.6 | 68.3 | — | — | — | — | — | — | |
| MGMapVP=false, RP=false, Backbone=R50, Epoch=30, #Param.(M)=55.9, FPS=11.602026.05 | 64.8 | 61.8 | 65 | 67.8 | — | — | — | — | — | — | |
| HRMapNetTemporal=true, Backbone=R502025.12 | 64.53 | 62.46 | 64.81 | 66.33 | 57.63 | 63.79 | 65.61 | 62.34 | 69.51 | 16.2 | |
| AMapTemporal=false, Backbone=R182025.12 | 64.49 | 63.11 | 67.08 | 63.27 | 60.7 | 71.96 | 66.16 | 66.28 | 65.11 | 31.5 | |
| MapTRv2 + SatforHDMapVP=false, RP=true, Backbone=R50&R18, Epoch=24, #Param.(M)=58.0, FPS=10.322026.05 | 63.7 | 63.6 | 63.1 | 64.4 | — | — | — | — | — | — | |
| MapTrackerTemporal=false, Backbone=R182025.12 | 62.81 | 61.01 | 65.28 | 62.14 | 59.33 | 69.33 | 65.23 | 64.63 | 64.04 | 31.5 | |
| MapQRTemporal=false, Backbone=R182025.12 | 62.31 | 59.33 | 63.26 | 64.35 | 60.03 | 66.09 | 67.98 | 64.7 | 63.13 | 13.7 | |
| MapTRv2 + SMERFVP=true, RP=false, Backbone=R50&T, Epoch=24, #Param.(M)=48.6, FPS=10.322026.05 | 62.3 | 60.4 | 63.4 | 63.2 | — | — | — | — | — | — | |
| MapTRv2 + SATPVP=true, RP=false, Backbone=R50&T, Epoch=24, #Param.(M)=40.62026.05 | 61.9 | — | — | — | — | — | — | — | — | — | |
| MapTRv2VP=false, RP=false, Backbone=R50, Epoch=24, #Param.(M)=40.3, FPS=11.572026.05 | 61.5 | 59.8 | 62.4 | 62.4 | — | — | — | — | — | — | |
| MapTRv2Temporal=false, Backbone=R502025.12 | 61.38 | 60.18 | 61.33 | 62.62 | 60.42 | 64.78 | 67.44 | 64.21 | 61.82 | 14.4 | |
| StreamMapNetVP=false, RP=false, Backbone=R50, Epoch=24, #Param.(M)=57.7, FPS=10.162026.05 | 60.6 | 64.1 | 58.2 | 59.4 | — | — | — | — | — | — | |
| MapTRv2Temporal=false, Backbone=R182025.12 | 57.15 | 54.07 | 59.12 | 58.25 | 56.69 | 62.1 | 63.65 | 60.81 | 56.17 | 16.6 | |
| MapTR (BEVFormer)Temporal=true, Backbone=R502025.12 | 53.29 | 51.71 | 54.88 | 53.29 | 48.8 | 56.86 | 55.41 | 53.69 | 55.18 | 15.6 | |
| MGMapTemporal=false, Backbone=R502025.12 | 53.15 | 48.21 | 55.8 | 55.43 | 48.56 | 57.21 | 59.64 | 55.13 | 56.78 | 12.4 | |
| MapTR (GKT)Temporal=true, Backbone=R502025.12 | 51.28 | 45.99 | 53.39 | 54.46 | 43.64 | 54.89 | 58.14 | 52.23 | 55.22 | 14.7 | |
| GeMapTemporal=false, Backbone=R502025.12 | 51.26 | 45.62 | 53.95 | 54.2 | 41.37 | 56.91 | 56.56 | 51.61 | 54.74 | 13.7 | |
| StreamMapNetTemporal=true, Backbone=R502025.12 | 51.15 | 48.36 | 52.44 | 52.65 | 49.44 | 57.5 | 57.89 | 54.94 | 50.94 | 15.7 | |
| MapTRVP=false, RP=false, Backbone=R50, Epoch=24, #Param.(M)=36.3, FPS=15.102026.05 | 50.3 | 46.3 | 51.5 | 53.1 | — | — | — | — | — | — | |
| VectorMapNetVP=false, RP=false, Backbone=R50, Epoch=110, #Param.(M)=36.7, FPS=16.172026.05 | 46 | 42.5 | 51.4 | 44.1 | — | — | — | — | — | — | |
| MapTRTemporal=false, Backbone=R502025.12 | 44.1 | 36.18 | 48.44 | 47.67 | 35.82 | 49.48 | 49.73 | 45.01 | 48.87 | 17.2 | |
| MapTRTemporal=false, Backbone=R182025.12 | 32.35 | 26.06 | 33.68 | 37.32 | 29.84 | 37.06 | 42.11 | 36.34 | 32.76 | 31.4 |