Vectorized HD Map Construction on nuScenes v1.0-trainval (val)
73.8mAPSATMapTR (on MapTRv2)
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| SATMapTR (on MapTRv2)Input Modality=Camera + Satellite, FPS=14.4, BEV Range=60m x 30m, Provenance=Reproduction2025.12 | 73.8 | 73.9 | 72.3 | 75.1 | |
| SatMapModality=C+Sat, Range=[-30.0, 30.0], Epochs=1102026.01 | 72.7 | 73.9 | 72.2 | 72.2 | |
| MapTRv2Input Modality=Camera + LiDAR, FPS=5.8, BEV Range=60m x 30m, Provenance=Cited2025.12 | 69 | 65.6 | 66.5 | 74.8 | |
| SatMapModality=C+Sat, Range=[-30.0, 30.0], Epochs=242026.01 | 67.8 | 67.3 | 69.1 | 66.9 | |
| SATMapTR (on MapTR)Input Modality=Camera + Satellite, BEV Range=60m x 30m, Provenance=Reproduction2025.12 | 66.8 | 66.2 | 67.7 | 66.5 | |
| HIMapModality=C, Range=[-30.0, 30.0], Epochs=242026.01 | 66.7 | 62.6 | 68.4 | 69.1 | |
| MGMapModality=C, Range=[-30.0, 30.0], Epochs=242026.01 | 66.4 | 63.4 | 68 | 67.7 | |
| MapTRv2 + LRPDBackbone=MapTRv2, Uncertainty Method=LRPD2026.03 | 63.45 | — | — | — | |
| MapQRcamera_input_setting=All 6 PVs (6PV), camera_pose_source=Ground-truth2026.01 | 62.9 | — | — | — | |
| StreamMapNetModality=C, Range=[-30.0, 30.0], Epochs=242026.01 | 62.9 | — | — | — | |
| MapTR-FusionModality=C+L, Range=[-30.0, 30.0], Epochs=242026.01 | 62.5 | 55.9 | 62.3 | 69.3 | |
| MapTRv2Input Modality=Camera, FPS=14.1, BEV Range=60m x 30m, Provenance=Cited2025.12 | 61.5 | 59.8 | 62.4 | 62.4 | |
| MapTRv2 + iidBackbone=MapTRv2, Uncertainty Method=iid, Evaluation Status=reproduced2026.03 | 61.21 | — | — | — | |
| MapTRv2Input Modality=Camera, FPS=16.3, BEV Range=60m x 30m, Provenance=Reproduction2025.12 | 61 | 58.6 | 61.7 | 62.7 | |
| GeMapcamera_input_setting=All 6 PVs (6PV), camera_pose_source=Ground-truth2026.01 | 60.9 | — | — | — | |
| ScalableMapModality=C, Range=[-30.0, 30.0], Epochs=1102026.01 | 60.6 | 57.3 | 60.9 | 63.8 | |
| MapTRv2-CL + LRPDBackbone=MapTRv2-CL, Uncertainty Method=LRPD2026.03 | 59.15 | — | — | — | |
| MapTRModality=C, Range=[-30.0, 30.0], Epochs=1102026.01 | 58.7 | 56.2 | 59.8 | 60.1 | |
| SatMapModality=C+Sat, Range=[-50.0, 50.0], Epochs=242026.01 | 57.8 | 63 | 59.7 | 50.4 | |
| MapTRv2 + iidBackbone=MapTRv2, Uncertainty Method=iid, Evaluation Status=reported2026.03 | 55.92 | — | — | — | |
| MapTR + LRPDBackbone=MapTR, Uncertainty Method=LRPD2026.03 | 55.89 | — | — | — | |
| MapTRv2 (Deterministic)Backbone=MapTRv2, Uncertainty Method=Deterministic2026.03 | 55.4 | — | — | — | |
| SMNcamera_input_setting=All 6 PVs (6PV), camera_pose_source=Ground-truth2026.01 | 55 | — | — | — | |
| MapTRv2camera_input_setting=All 6 PVs (6PV), camera_pose_source=Ground-truth2026.01 | 54.7 | — | — | — | |
| SatMapModality=C+Sat, Range=[-60.0, 60.0], Epochs=242026.01 | 54.6 | 61.3 | 58.3 | 44.3 | |
| MapTRcamera_input_setting=All 6 PVs (6PV), camera_pose_source=Ground-truth2026.01 | 53.1 | — | — | — | |
| GeMapModality=C, Range=[-30.0, 30.0], Epochs=242026.01 | 52.6 | 49.2 | 53.6 | 54.8 | |
| SatforHDModality=C+Sat, Range=[-30.0, 30.0], Epochs=242026.01 | 52.6 | 47.2 | 55.3 | 55.3 | |
| SatforHDMap (on MapTR)Input Modality=Camera + Satellite, BEV Range=60m x 30m, Provenance=Cited2025.12 | 52.6 | 47.2 | 55.3 | 55.3 | |
| MapTRv2-CL + iidBackbone=MapTRv2-CL, Uncertainty Method=iid, Evaluation Status=reproduced2026.03 | 52.04 | — | — | — | |
| MapTR + iidBackbone=MapTR, Uncertainty Method=iid, Evaluation Status=reproduced2026.03 | 51.58 | — | — | — | |
| MapTRModality=C, Range=[-30.0, 30.0], Epochs=242026.01 | 50.3 | 45.3 | 51.5 | 53.1 | |
| MapTRInput Modality=Camera, FPS=15.1, BEV Range=60m x 30m, Provenance=Cited2025.12 | 50.3 | 46.3 | 51.5 | 53.1 | |
| MapQRcamera_input_setting=Front+Back (2PV), camera_pose_source=Ground-truth2026.01 | 49.5 | — | — | — | |
| MapTR-SDMapModality=C+SD, Range=[-30.0, 30.0], Epochs=242026.01 | 49.4 | 43.7 | 50.9 | 53.5 | |
| P-MapNetInput Modality=Camera + SD map, BEV Range=60m x 30m, Provenance=Cited2025.12 | 49.4 | 43.7 | 50.9 | 53.5 | |
| GeMapcamera_input_setting=Front+Back (2PV), camera_pose_source=Ground-truth2026.01 | 48.3 | — | — | — | |
| MapTRv2-CL (Deterministic)Backbone=MapTRv2-CL, Uncertainty Method=Deterministic2026.03 | 47.89 | — | — | — | |
| MapTRInput Modality=Camera, BEV Range=60m x 30m, Provenance=Cited2025.12 | 47.3 | 41.2 | 49.5 | 51 | |
| FlexMapcamera_input_setting=Front+Back (2PV), camera_pose_source=Estimated2026.01 | 46.9 | 36.4 | 52.6 | 51.7 | |
| MapTRv2-CL + iidBackbone=MapTRv2-CL, Uncertainty Method=iid, Evaluation Status=reported2026.03 | 46.55 | — | — | — | |
| ScalableMapModality=C, Range=[-60.0, 60.0], Epochs=1102026.01 | 45.6 | 44.8 | 49 | 43.1 | |
| MapTRModality=C, Range=[-50.0, 50.0], Epochs=242026.01 | 45.5 | 45.5 | 47.1 | 43.9 | |
| MapTRcamera_input_setting=Front+Back (2PV), camera_pose_source=Ground-truth2026.01 | 45.4 | — | — | — | |
| MapTR + iidBackbone=MapTR, Uncertainty Method=iid, Evaluation Status=reported2026.03 | 45.25 | — | — | — | |
| MapTR (Deterministic)Backbone=MapTR, Uncertainty Method=Deterministic2026.03 | 44.88 | — | — | — | |
| FlexMapcamera_input_setting=All 6 PVs (6PV), camera_pose_source=Estimated2026.01 | 44.8 | 40.7 | 43 | 49.7 | |
| FlexMapcamera_input_setting=Back only (1PV), camera_pose_source=Estimated2026.01 | 44.6 | 31.4 | 50.1 | 52.3 | |
| MapTRv2camera_input_setting=Front+Back (2PV), camera_pose_source=Ground-truth2026.01 | 43.8 | — | — | — | |
| SMNcamera_input_setting=Front+Back (2PV), camera_pose_source=Ground-truth2026.01 | 41.8 | — | — | — | |
| SatforHDMap (on HDMapNet)Input Modality=Camera + Satellite, FPS=1.6, BEV Range=60m x 30m, Provenance=Reproduction2025.12 | 41.2 | 43 | 51.6 | 29.2 | |
| MapQRcamera_input_setting=Back only (1PV), camera_pose_source=Ground-truth2026.01 | 40.7 | — | — | — | |
| MapTRcamera_input_setting=Back only (1PV), camera_pose_source=Ground-truth2026.01 | 39.9 | — | — | — | |
| GeMapcamera_input_setting=Back only (1PV), camera_pose_source=Ground-truth2026.01 | 39.5 | — | — | — | |
| MapTRModality=C, Range=[-60.0, 60.0], Epochs=1102026.01 | 39.1 | 35.6 | 46 | 35.7 | |
| MapTRv2camera_input_setting=Back only (1PV), camera_pose_source=Ground-truth2026.01 | 38.8 | — | — | — | |
| HDMapNetInput Modality=Camera, FPS=0.9, BEV Range=60m x 30m, Provenance=Reproduction2025.12 | 33.6 | 26.4 | 29.4 | 45.1 | |
| SMNcamera_input_setting=Back only (1PV), camera_pose_source=Ground-truth2026.01 | 33.3 | — | — | — | |
| SMNcamera_input_setting=All 6 PVs (6PV), camera_pose_source=Estimated2026.01 | 19.3 | 12.5 | 20.6 | 24.6 | |
| MapQRcamera_input_setting=All 6 PVs (6PV), camera_pose_source=Estimated2026.01 | 17.2 | 11.6 | 19.2 | 20.8 | |
| MapTRcamera_input_setting=All 6 PVs (6PV), camera_pose_source=Estimated2026.01 | 15 | 9 | 18.4 | 17.5 | |
| SMNcamera_input_setting=Front+Back (2PV), camera_pose_source=Estimated2026.01 | 14.4 | 4.5 | 20.9 | 17.9 | |
| GeMapcamera_input_setting=All 6 PVs (6PV), camera_pose_source=Estimated2026.01 | 14.1 | 12.7 | 14 | 15.7 | |
| MapTRv2camera_input_setting=All 6 PVs (6PV), camera_pose_source=Estimated2026.01 | 13.3 | 13.2 | 12 | 14.6 | |
| GeMapcamera_input_setting=Back only (1PV), camera_pose_source=Estimated2026.01 | 12.2 | 8 | 12.2 | 16.2 | |
| MapQRcamera_input_setting=Front+Back (2PV), camera_pose_source=Estimated2026.01 | 11.7 | 5.1 | 14.1 | 14.8 | |
| SMNcamera_input_setting=Back only (1PV), camera_pose_source=Estimated2026.01 | 11.5 | 4.5 | 16.7 | 13.2 | |
| GeMapcamera_input_setting=Front+Back (2PV), camera_pose_source=Estimated2026.01 | 11.4 | 6.7 | 12.5 | 15.2 | |
| MapTRcamera_input_setting=Front+Back (2PV), camera_pose_source=Estimated2026.01 | 11 | 4.3 | 13.9 | 14.8 | |
| MapTRcamera_input_setting=Back only (1PV), camera_pose_source=Estimated2026.01 | 10.5 | 4.9 | 12.8 | 13.9 | |
| MapQRcamera_input_setting=Back only (1PV), camera_pose_source=Estimated2026.01 | 10.5 | 6.1 | 12.7 | 12.8 | |
| MapTRv2camera_input_setting=Back only (1PV), camera_pose_source=Estimated2026.01 | 8.7 | 8 | 8.2 | 10 | |
| MapTRv2camera_input_setting=Front+Back (2PV), camera_pose_source=Estimated2026.01 | 7.1 | 5.2 | 7.5 | 8.4 | |
| FlexMapcamera_input_setting=Front only (1PV), camera_pose_source=Estimated2026.01 | 0.492 | 0.421 | 0.536 | 0.519 | |
| GeMapcamera_input_setting=Front only (1PV), camera_pose_source=Ground-truth2026.01 | 0.412 | — | — | — | |
| MapTRcamera_input_setting=Front only (1PV), camera_pose_source=Ground-truth2026.01 | 0.401 | — | — | — | |
| MapTRv2camera_input_setting=Front only (1PV), camera_pose_source=Ground-truth2026.01 | 0.348 | — | — | — | |
| MapQRcamera_input_setting=Front only (1PV), camera_pose_source=Ground-truth2026.01 | 0.323 | — | — | — | |
| SMNcamera_input_setting=Front only (1PV), camera_pose_source=Ground-truth2026.01 | 0.267 | — | — | — | |
| MapTRcamera_input_setting=Front only (1PV), camera_pose_source=Estimated2026.01 | 0.083 | 0.037 | 0.105 | 0.106 | |
| SMNcamera_input_setting=Front only (1PV), camera_pose_source=Estimated2026.01 | 0.079 | 0.023 | 0.101 | 0.111 | |
| GeMapcamera_input_setting=Front only (1PV), camera_pose_source=Estimated2026.01 | 0.072 | 0.037 | 0.077 | 0.099 | |
| MapQRcamera_input_setting=Front only (1PV), camera_pose_source=Estimated2026.01 | 0.068 | 0.034 | 0.079 | 0.089 | |
| MapTRv2camera_input_setting=Front only (1PV), camera_pose_source=Estimated2026.01 | 0.042 | 0.043 | 0.039 | 0.043 |