Vectorized HD Map Learning on Argoverse 2 (val)
80.3AP DividerPredMapNet
Evaluation results
| Method | Links | ||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PredMapNetEpoch=352026.02 | 80.3 | — | — | — | — | — | — | — | 69.1 | — | — | — | — | 77.2 | 74.5 | 77.3 | — | — | — | — | — | — | — | — | — | — | |
| MapTrackerEpoch=352026.02 | 79.9 | — | — | — | — | — | — | — | 68.3 | — | — | — | — | 76.9 | 73.6 | 76.8 | — | — | — | — | — | — | — | — | — | — | |
| GaussianMapModality=C & L, Epoch=62026.06 | 79.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | 83.8 | 79 | — | — | — | — | — | — | — | — | — | 73.7 | |
| MapQR+DAMapModality=C & L, Epoch=62026.06 | 77 | — | — | — | — | — | — | — | — | — | — | — | — | — | 80.9 | 76.1 | — | — | — | — | — | — | — | — | — | 70.5 | |
| ADMapModality=C & L, Epoch=62026.06 | 76.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | 81.5 | 76.9 | — | — | — | — | — | — | — | — | — | 72.8 | |
| MGMapNetEpoch=242026.02 | 76 | — | — | — | — | — | — | — | — | — | — | — | — | 71.3 | 73.1 | 73.6 | — | — | — | — | — | — | — | — | — | — | |
| StreamMapNetEpoch=722026.02 | 74.2 | — | — | — | — | — | — | — | — | — | — | — | — | 70.5 | 66.1 | 70.3 | — | — | — | — | — | — | — | — | — | — | |
| RelMapModality=C, Epoch=62026.06 | 74.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | 70.1 | 69.9 | — | — | — | — | — | — | — | — | — | 65.3 | |
| GaussianMapModality=C, Epoch=62026.06 | 73.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | 71.9 | 70.1 | — | — | — | — | — | — | — | — | — | 65.2 | |
| Mask2MapEpoch=242026.02 | 72.7 | — | — | — | — | — | — | — | — | — | — | — | — | 68.1 | 73.7 | 71.5 | — | — | — | — | — | — | — | — | — | — | |
| ADMapModality=C, Epoch=62026.06 | 72.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | 68.9 | 68.7 | — | — | — | — | — | — | — | — | — | 64.5 | |
| MapQRModality=C, Epoch=62026.06 | 72.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | 68.1 | 68.2 | — | — | — | — | — | — | — | — | — | 64.3 | |
| MapQR+DAMapModality=C, Epoch=62026.06 | 72.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | 68.3 | 68.1 | — | — | — | — | — | — | — | — | — | 63.9 | |
| MapTRv2Map dimension=2, Backbone=R50, Epoch=6, FPS=12.12023.08 | 72.1 | — | — | — | — | — | — | — | — | — | — | — | — | 62.9 | 67.1 | 67.4 | — | — | — | — | — | — | — | — | — | — | |
| MapTRv2Epoch=242026.02 | 72.1 | — | — | — | — | — | — | — | — | — | — | — | — | 62.9 | 67.1 | 67.4 | — | — | — | — | — | — | — | — | — | — | |
| MapTRv2Modality=C, Epoch=62026.06 | 72.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | 67.1 | 67.4 | — | — | — | — | — | — | — | — | — | 62.9 | |
| HRMapNetEpoch=302026.02 | 71.4 | — | — | — | — | — | — | — | — | — | — | — | — | 65.1 | 68.6 | 68.3 | — | — | — | — | — | — | — | — | — | — | |
| HeightMapNetModality=C, Epoch=62026.06 | 70.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | 62.7 | 67.1 | — | — | — | — | — | — | — | — | — | 67.9 | |
| HIMapModality=C, Epoch=62026.06 | 69.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | 70.3 | 69.6 | — | — | — | — | — | — | — | — | — | 69 | |
| MapFusionModality=C & L, Epoch=62026.06 | 69.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | 78.9 | 71.4 | — | — | — | — | — | — | — | — | — | 65.8 | |
| MapTRv2Epoch=62024.03 | 68.9 | — | — | — | — | — | — | — | — | — | — | — | — | 60.7 | 64.5 | 64.7 | — | — | — | — | — | — | — | — | — | — | |
| MapTRv2Map dimension=3, Backbone=R50, Epoch=6, FPS=122023.08 | 68.9 | — | — | — | — | — | — | — | — | — | — | — | — | 60.7 | 64.5 | 64.7 | — | — | — | — | — | — | — | — | — | — | |
| HIMapEpoch=62024.03 | 68.3 | — | — | — | — | — | — | — | — | — | — | — | — | 66.7 | 70.3 | 68.4 | — | — | — | — | — | — | — | — | — | — | |
| GeMapModality=C, Epoch=62026.06 | 67.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | 64.7 | 63.9 | — | — | — | — | — | — | — | — | — | 59.3 | |
| MapTRv2Epoch=62024.03 | 66.9 | — | — | — | — | — | — | — | — | — | — | — | — | 53.5 | 63.6 | 61.4 | — | — | — | — | — | — | — | — | 61.5 | — | |
| SEF-MapModality=C & L, Epoch=62026.06 | 66.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | 78.8 | 72.1 | — | — | — | — | — | — | — | — | — | 70.7 | |
| HIMapEpoch=62024.03 | 66.4 | — | — | — | — | — | — | — | — | — | — | — | — | 64.6 | 71.1 | 67.2 | — | — | — | — | — | — | — | — | 66.6 | — | |
| MapTRModality=C, Epoch=62026.06 | 65.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | 61.8 | 61.3 | — | — | — | — | — | — | — | — | — | 56.6 | |
| MapTRModality=C & L, Epoch=62026.06 | 65.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | 75.1 | 67.3 | — | — | — | — | — | — | — | — | — | 61.6 | |
| MapVRMap dimension=2, Backbone=R50, Epoch=62023.08 | 60 | — | — | — | — | — | — | — | — | — | — | — | — | 54.6 | 58 | 57.5 | — | — | — | — | — | — | — | — | — | — | |
| MapVRModality=C, Epoch=62026.06 | 60 | — | — | — | — | — | — | — | — | — | — | — | — | — | 58 | 57.5 | — | — | — | — | — | — | — | — | — | 54.6 | |
| MapTRv2Camera Pose=Ground Truth, Input View=Front camera (1PV)2026.01 | 59.4 | — | — | — | — | — | — | — | — | — | — | — | — | 25 | 47.5 | 43.9 | — | — | — | — | — | — | — | — | — | — | |
| GeMapBackbone=ResNet-50, Epochs=30, FPS=11.62025.03 | 59.2 | — | — | — | — | — | — | — | — | — | — | — | — | 52.5 | 58.2 | 56.6 | — | — | — | — | — | — | — | — | — | — | |
| MapTRv2Backbone=ResNet-50, Epochs=30, FPS=12.92025.03 | 58.7 | — | — | — | — | — | — | — | — | — | — | — | — | 53.3 | 58.8 | 56.9 | — | — | — | — | — | — | — | — | — | — | |
| UIGenMapBackbone=ResNet-50, Epochs=30, FPS=8.22025.03 | 58.7 | — | — | — | — | — | — | — | — | — | — | — | — | 59.8 | 62.7 | 60.4 | — | — | — | — | — | — | — | — | — | — | |
| UIGenMap-dBackbone=ResNet-50, Epochs=30, FPS=12.22025.03 | 58.4 | — | — | — | — | — | — | — | — | — | — | — | — | 58.3 | 62.4 | 59.7 | — | — | — | — | — | — | — | — | — | — | |
| MapQRBackbone=ResNet-50, Epochs=30, FPS=12.12025.03 | 58 | — | — | — | — | — | — | — | — | — | — | — | — | 54.2 | 60.4 | 57.5 | — | — | — | — | — | — | — | — | — | — | |
| StreamMapNetBackbone=ResNet-50, Epochs=30, FPS=13.32025.03 | 55.7 | — | — | — | — | — | — | — | — | — | — | — | — | 57.9 | 61.3 | 58.3 | — | — | — | — | — | — | — | — | — | — | |
| MapQRCamera Pose=Ground Truth, Input View=Front camera (1PV)2026.01 | 54.9 | — | — | — | — | — | — | — | — | — | — | — | — | 27.8 | 46.4 | 43 | — | — | — | — | — | — | — | — | — | — | |
| MapTRBackbone=ResNet-50, Epochs=30, FPS=15.82025.03 | 50.4 | — | — | — | — | — | — | — | — | — | — | — | — | 48.1 | 55 | 51.1 | — | — | — | — | — | — | — | — | — | — | |
| FlexMapCamera Pose=Pose-free, Input View=Front camera (1PV)2026.01 | 50 | — | — | — | — | — | — | — | — | — | — | — | — | 39.9 | 51.3 | 47 | — | — | — | — | — | — | — | — | — | — | |
| UIGenMapBackbone=ResNet-50, Epochs=30, FPS=8.22025.03 | 45.7 | — | — | — | — | — | — | — | — | — | — | — | — | 43.7 | 45.1 | 44.8 | — | — | — | — | — | — | — | — | — | — | |
| UIGenMap-dBackbone=ResNet-50, Epochs=30, FPS=12.22025.03 | 44.4 | — | — | — | — | — | — | — | — | — | — | — | — | 42.9 | 44.7 | 44 | — | — | — | — | — | — | — | — | — | — | |
| StreamMapNetBackbone=ResNet-50, Epochs=30, FPS=13.32025.03 | 43.4 | — | — | — | — | — | — | — | — | — | — | — | — | 40.2 | 43.3 | 42.3 | — | — | — | — | — | — | — | — | — | — | |
| MapTRv2Backbone=ResNet-50, Epochs=30, FPS=12.92025.03 | 42.2 | — | — | — | — | — | — | — | — | — | — | — | — | 37.4 | 41.9 | 40.5 | — | — | — | — | — | — | — | — | — | — | |
| MapTRBackbone=ResNet-50, Epochs=30, FPS=15.82025.03 | 41.7 | — | — | — | — | — | — | — | — | — | — | — | — | 34.7 | 34.7 | 37.9 | — | — | — | — | — | — | — | — | — | — | |
| MapQRBackbone=ResNet-50, Epochs=30, FPS=12.12025.03 | 41.5 | — | — | — | — | — | — | — | — | — | — | — | — | 33.8 | 41.6 | 38.9 | — | — | — | — | — | — | — | — | — | — | |
| GeMapBackbone=ResNet-50, Epochs=30, FPS=11.62025.03 | 41.1 | — | — | — | — | — | — | — | — | — | — | — | — | 34.5 | 40.4 | 38.7 | — | — | — | — | — | — | — | — | — | — | |
| VectorMapNetMap dimension=2, Backbone=R502023.08 | 36.1 | — | — | — | — | — | — | — | — | — | — | — | — | 38.3 | 39.2 | 37.9 | — | — | — | — | — | — | — | — | — | — | |
| VectorMapNetModality=C2026.06 | 36.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.2 | 37.9 | — | — | — | — | — | — | — | — | — | 38.3 | |
| VectorMapNetEpoch=242024.03 | 35 | — | — | — | — | — | — | — | — | — | — | — | — | 36.5 | 36.2 | 35.8 | — | — | — | — | — | — | — | — | — | — | |
| VectorMapNetMap dimension=3, Backbone=R502023.08 | 35 | — | — | — | — | — | — | — | — | — | — | — | — | 36.5 | 36.2 | 35.8 | — | — | — | — | — | — | — | — | — | — | |
| VectorMapNetBackbone=ResNet-50, Epochs=1202025.03 | 34.9 | — | — | — | — | — | — | — | — | — | — | — | — | 35.6 | 37.8 | 36.1 | — | — | — | — | — | — | — | — | — | — | |
| HDMapNetMap dimension=2, Backbone=Effi-B02023.08 | 5.7 | — | — | — | — | — | — | — | — | — | — | — | — | 13.1 | 37.6 | 18.8 | — | — | — | — | — | — | — | — | — | — | |
| HDMapNetModality=C2026.06 | 5.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | 37.6 | 18.8 | — | — | — | — | — | — | — | — | — | 13.1 | |
| HDMapNetInput=Camera, Keypoint Dimension=22022.06 | — | — | — | — | — | 13.1 | 5.7 | 37.6 | 18.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HDMapNet2023.06 | — | — | — | — | — | 13.1 | 5.7 | 37.6 | 18.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HDMapNetBackbone=Efficient-B0, Epoch=62024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 9.8 | 19.5 | 35.9 | 21.8 | 13.1 | 5.7 | 37.6 | 18.8 | — | — | |
| HDMapNetEpochs=62026.05 | — | — | — | — | — | 13.1 | 5.7 | 37.6 | 18.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HIMapBackbone=ResNet50, Epoch=62024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.9 | 53.4 | 44.3 | 45.8 | 69 | 69.5 | 70.3 | 69.6 | — | — | |
| HIMapBackbone=ResNet50, Epoch=242024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 44.2 | 57.9 | 47.9 | 50 | 72.4 | 72.4 | 73.2 | 72.7 | — | — | |
| MapTRbackbone=ResNet-502023.06 | — | — | — | — | — | 54.7 | 58.1 | 56.7 | 56.5 | 22.1 | 32.6 | 24 | 26.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MapTRBackbone=ResNet50, Epoch=62024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 28.3 | 42.2 | 33.7 | 34.8 | 54.7 | 58.1 | 56.7 | 56.5 | — | — | |
| MapTREpochs=62026.05 | — | — | — | — | — | 54.7 | 58.1 | 56.7 | 56.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MapTR + GSMapEpochs=62026.05 | — | — | — | — | — | 57 | 60.2 | 60.6 | 59.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MapTR + MapVRbackbone=ResNet-502023.06 | — | — | — | — | — | 54.6 | 60 | 58 | 57.5 | 23.5 | 36.5 | 30.2 | 30.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MapTR + MapVREpochs=62026.05 | — | — | — | — | — | 54.6 | 60 | 58 | 57.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MapTRv2†Backbone=ResNet50, Epoch=62024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 34.8 | 52.5 | 40.6 | 42.6 | 63.6 | 71.5 | 67.4 | 67.5 | — | — | |
| MapTRv2†Backbone=ResNet50, Epoch=242024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 39.2 | 56.5 | 43.8 | 46.5 | 68.3 | 74.1 | 69.2 | 70.5 | — | — | |
| MapVRBackbone=ResNet502024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 54.6 | 60 | 58 | 57.5 | — | — | |
| PivotNetBackbone=ResNet50, Epoch=62024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 31.3 | 47.5 | 43.4 | 40.7 | — | — | — | — | — | — | |
| VectorMapNetInput=Camera, Keypoint Dimension=22022.06 | — | 43.2 | 45.5 | 52 | 46.9 | 38.3 | 36.1 | 39.2 | 37.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VectorMapNetInput=Camera, Keypoint Dimension=32022.06 | — | 41.7 | 42.3 | 49.9 | 44.6 | 36.5 | 35 | 36.2 | 35.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VectorMapNet2023.06 | — | — | — | — | — | 38.3 | 36.1 | 39.2 | 37.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VectorMapNetBackbone=ResNet50, Epoch=242024.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 18.3 | 33.3 | 20.4 | 24 | 38.3 | 36.1 | 39.2 | 37.9 | — | — | |
| VectorMapNetEpochs=62026.05 | — | — | — | — | — | 38.3 | 36.1 | 39.2 | 37.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |