Vectorized HD Map Construction on nuScenes (val)
75.99mAPGeMap
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| GeMapTemporal=false, Backbone=V-99*, BEV Encoder=BEVFormer, Epoch=1102025.12 | 75.99 | 74.28 | 75.99 | 77.68 | 72.7 | 78 | 80.24 | 76.98 | 76.36 | |
| HIMapFPS=11.4, GPU mem.(MB)=3512, Params (MB)=63.22024.03 | 73.7 | — | — | — | — | — | — | — | — | |
| MapQRTemporal=false, Backbone=R50, BEV Encoder=BEVFormer, Epoch=1102025.12 | 73.12 | 65.42 | 76.42 | 77.53 | 69.12 | 77.57 | 76.45 | 74.38 | 72.57 | |
| GeMapTemporal=false, Backbone=V2-99, BEV Encoder=BEVFormer, Epoch=1102025.12 | 72.02 | 70.18 | 72.19 | 73.7 | 68.97 | 75.16 | 76.44 | 73.52 | 72.66 | |
| GeMapTemporal=false, Backbone=Swin-T, BEV Encoder=BEVFormer, Epoch=1102025.12 | 71.99 | 70.43 | 72.77 | 72.76 | 69.89 | 75.24 | 76.18 | 73.77 | 72.79 | |
| HRMapNetTemporal=false, Backbone=R50, BEV Encoder=BEVFormer, Epoch=1102025.12 | 71.85 | 70.52 | 70.77 | 74.27 | 62.98 | 70.53 | 73.89 | 69.13 | 77.28 | |
| MapTRv2FPS=18.7, GPU mem.(MB)=2888, Params (MB)=40.32024.03 | 68.7 | — | — | — | — | — | — | — | — | |
| MapQRTemporal=false, Backbone=R50, BEV Encoder=BEVFormer, Epoch=242025.12 | 66.35 | 63.36 | 68.03 | 67.67 | 62.47 | 71.2 | 71.47 | 68.38 | 65.59 | |
| BeMapNetFPS=9.7, GPU mem.(MB)=5484, Params (MB)=73.82024.03 | 64.8 | — | — | — | — | — | — | — | — | |
| HRMapNetTemporal=false, Backbone=R50, BEV Encoder=BEVFormer, Epoch=242025.12 | 64.54 | 62.46 | 64.81 | 66.33 | 57.63 | 63.79 | 65.61 | 62.34 | 69.51 | |
| GeMapTemporal=false, Backbone=R50, BEV Encoder=BEVFormer, Epoch=1102025.12 | 62.69 | 59.8 | 65.08 | 63.19 | 58.26 | 68.47 | 68.44 | 65.06 | 63.91 | |
| MapQRTemporal=false, Backbone=R18, BEV Encoder=BEVFormer, Epoch=242025.12 | 62.31 | 59.33 | 63.26 | 64.35 | 60.03 | 66.09 | 67.98 | 64.7 | 63.13 | |
| MapTRv2Temporal=false, Backbone=R50, BEV Encoder=BEVPool, Epoch=242025.12 | 61.38 | 60.18 | 61.33 | 62.62 | 60.42 | 64.78 | 67.44 | 64.21 | 61.82 | |
| MapTRFPS=21.6, GPU mem.(MB)=2544, Params (MB)=35.92024.03 | 59.3 | — | — | — | — | — | — | — | — | |
| MapTRv2Temporal=false, Backbone=R18, BEV Encoder=BEVPool, Epoch=242025.12 | 57.15 | 54.07 | 59.12 | 58.25 | 56.69 | 62.1 | 63.65 | 60.81 | 56.17 | |
| MapTRTemporal=true, Backbone=R50, BEV Encoder=BEVFormer, Epoch=242025.12 | 53.29 | 51.71 | 54.88 | 53.29 | 48.8 | 56.86 | 55.41 | 53.69 | 55.18 | |
| MGMapTemporal=false, Backbone=R50, BEV Encoder=BEVFormer, Epoch=242025.12 | 53.15 | 48.21 | 55.8 | 55.43 | 48.56 | 57.21 | 59.64 | 55.13 | 56.78 | |
| MapTRTemporal=true, Backbone=R50, BEV Encoder=GKT, Epoch=242025.12 | 51.28 | 45.99 | 53.39 | 54.46 | 43.64 | 54.89 | 58.14 | 52.23 | 55.22 | |
| GeMapTemporal=false, Backbone=R50, BEV Encoder=BEVFormer, Epoch=242025.12 | 51.26 | 45.62 | 53.95 | 54.2 | 41.37 | 56.91 | 56.56 | 51.61 | 54.74 | |
| MapTRTemporal=false, Backbone=R50, BEV Encoder=GKT, Epoch=1102025.12 | 50.53 | 44.42 | 54.63 | 52.52 | 46.2 | 62.86 | 62.29 | 57.11 | 51.19 | |
| MapTRTemporal=false, Backbone=R50, BEV Encoder=BEVPool, Epoch=242025.12 | 50.1 | 44.96 | 51.86 | 53.48 | 46.8 | 56.69 | 58.61 | 54.03 | 46.3 | |
| MapTRTemporal=false, Backbone=R18, BEV Encoder=GKT, Epoch=1102025.12 | 46.11 | 40.85 | 50.04 | 47.43 | 41.91 | 53.6 | 51.18 | 48.9 | 47.05 | |
| MapTRTemporal=false, Backbone=R50, BEV Encoder=GKT, Epoch=242025.12 | 44.1 | 36.18 | 48.44 | 47.67 | 35.82 | 49.48 | 49.73 | 45.01 | 48.87 | |
| BeMapNetBackbone=SwinT, FPS=3.7, Params (MB)=55.32023.06 | 43.7 | — | — | — | — | — | — | — | — | |
| MapTRTemporal=false, Backbone=R50, BEV Encoder=BEVFormer, Epoch=242025.12 | 41.61 | 34.53 | 45.43 | 44.88 | 35.67 | 47.86 | 49.14 | 44.22 | 45.89 | |
| BeMapNetBackbone=EfficientNet-B0, FPS=4.8, Params (MB)=27.62023.06 | 40.7 | — | — | — | — | — | — | — | — | |
| MapTRTemporal=false, Backbone=R18, BEV Encoder=GKT, Epoch=242025.12 | 32.35 | 26.06 | 33.68 | 37.32 | 29.84 | 37.06 | 42.11 | 36.34 | 32.76 | |
| HDMapNetBackbone=EfficientNet-B0, FPS=0.7, Params (MB)=69.82023.06 | 22.7 | — | — | — | — | — | — | — | — |