Vectorized Map Construction on nuScenes v1.0 (val)
74.4AP (Divider)HIMap
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| HIMapEpoch=110, Input Modality=Multi-view images and LiDAR point clouds2024.03 | 74.4 | 77 | 82.1 | 77.8 | — | — | |
| MapTRv2Modality=C, Backbone=V2-99, Epoch=1102023.08 | 73.7 | — | 75 | 73.4 | 9.9 | 71.4 | |
| MapTRv2Modality=C & L, Backbone=V2-99 & Sec, Epoch=242023.08 | 73.2 | — | 78.6 | 74 | 4.5 | 70.4 | |
| HIMapEpoch=24, Input Modality=Multi-view images and LiDAR point clouds2024.03 | 72.4 | 71 | 79.4 | 74.3 | — | — | |
| MapTREpoch=110, Input Modality=Multi-view images and LiDAR point clouds2024.03 | 68.3 | 65.4 | 74.9 | 69.5 | — | — | |
| MapTRv2Modality=C, Backbone=R50, Epoch=1102023.08 | 68.3 | — | 69.7 | 68.7 | 14.1 | 68.1 | |
| MapTRv2Modality=C, Backbone=V2-99, Epoch=242023.08 | 67.1 | — | 69.2 | 66.6 | 9.9 | 63.6 | |
| BeMapNetModality=C, Backbone=R50, Epoch=1102023.08 | 66.7 | — | 65.1 | 64.8 | 7 | 62.6 | |
| MapTRv2Epoch=24, Input Modality=Multi-view images and LiDAR point clouds2024.03 | 66.5 | 65.6 | 74.8 | 69 | — | — | |
| MapTRv2Modality=C & L, Backbone=R50 & Sec, Epoch=242023.08 | 66.5 | — | 74.8 | 69 | 5.8 | 65.6 | |
| MapVREpoch=24, Input Modality=Multi-view images and LiDAR point clouds2024.03 | 62.7 | 60.4 | 67.2 | 63.5 | — | — | |
| MapVRModality=C & L, Backbone=R50 & Sec, Epoch=242023.08 | 62.7 | — | 67.2 | 63.5 | 6 | 60.4 | |
| PivotNetModality=C, Backbone=SwinT, Epoch=1102023.08 | 62.6 | — | 69.7 | 66.8 | 8.3 | 68 | |
| MapTRv2Modality=C, Backbone=R50, Epoch=242023.08 | 62.4 | — | 62.4 | 61.5 | 14.1 | 59.8 | |
| MapTREpoch=24, Input Modality=Multi-view images and LiDAR point clouds2024.03 | 62.3 | 55.9 | 69.3 | 62.5 | — | — | |
| BeMapNetModality=C, Backbone=R50, Epoch=302023.08 | 62.3 | — | 59.4 | 59.8 | 7 | 57.7 | |
| MapTRModality=C & L, Backbone=R50 & Sec, Epoch=242023.08 | 62.3 | — | 69.3 | 62.5 | 6 | 55.9 | |
| MapVRModality=C, Backbone=R50, Epoch=1102023.08 | 61.8 | — | 59.4 | 58.8 | 15.1 | 55 | |
| VectorMapNetModality=Fusion, Training strategy=Two-stage fine-tune2022.06 | 60.1 | 48.2 | 53 | 53.7 | — | — | |
| VectorMapNetEpoch=110, Fine-tuning=true, Input Modality=Multi-view images and LiDAR point clouds2024.03 | 60.1 | 48.2 | 53 | 53.7 | — | — | |
| VectorMapNetModality=C & L, Backbone=R50 & PP, Epoch=110+ft2023.08 | 60.1 | — | 53 | 53.7 | — | 48.2 | |
| MapTR-tinyModality=C, Backbone=R50, Epochs=1102022.08 | 59.8 | 56.2 | 60.1 | 58.7 | 11.2 | — | |
| MapTRModality=C, Backbone=R50, Epoch=1102023.08 | 59.8 | — | 60.1 | 58.7 | 15.1 | 56.2 | |
| PivotNetModality=C, Backbone=SwinT, Epoch=302023.08 | 58.7 | — | 64.9 | 62.5 | 8.3 | 63.8 | |
| MapTRv2Modality=L, Backbone=Sec, Epoch=242023.08 | 58.1 | — | 69.8 | 61.5 | 7.6 | 56.6 | |
| PivotNetModality=C, Backbone=R50, Epoch=302023.08 | 55.8 | — | 59.6 | 57.4 | 10.4 | 53.8 | |
| MapTRv2Modality=C, Backbone=R18, Epoch=1102023.08 | 55.1 | — | 54.9 | 52.3 | 33.7 | 46.9 | |
| MapVRModality=C, Backbone=R50, Epoch=242023.08 | 54.4 | — | 51.4 | 51.2 | 15.1 | 47.7 | |
| MapTRModality=L, Backbone=Sec, Epoch=242023.08 | 53.7 | — | 64.7 | 55.6 | 8 | 48.5 | |
| MapTR-tinyModality=C, Backbone=R50, Epochs=242022.08 | 51.5 | 46.3 | 53.1 | 50.3 | 11.2 | — | |
| MapTRModality=C, Backbone=R50, Epoch=242023.08 | 51.5 | — | 53.1 | 50.3 | 15.1 | 46.3 | |
| VectorMapNetModality=Camera, Training strategy=Two-stage fine-tune2022.06 | 51.4 | 42.5 | 44.1 | 46 | — | — | |
| VectorMapNetModality=C, Backbone=R50, Epoch=110+ft2023.08 | 51.4 | — | 44.1 | 46 | 2.2 | 42.5 | |
| VectorMapNetModality=C & L, Backbone=R50 & PointPillars, Epochs=1102022.08 | 50.5 | 37.6 | 47.5 | 45.2 | — | — | |
| VectorMapNetModality=Fusion2022.06 | 50.5 | 37.6 | 47.5 | 45.2 | — | — | |
| MapTR-nanoModality=C, Backbone=R18, Epochs=1102022.08 | 49.9 | 39.6 | 48.2 | 45.9 | 25.1 | — | |
| MapTRModality=C, Backbone=R18, Epoch=1102023.08 | 49.9 | — | 48.2 | 45.9 | 35 | 39.6 | |
| VectorMapNetModality=C, Backbone=R50, Epochs=1102022.08 | 47.3 | 36.1 | 39.3 | 40.9 | 2.9 | — | |
| VectorMapNetModality=Camera2022.06 | 47.3 | 36.1 | 39.3 | 40.9 | — | — | |
| InstaGraMModality=C, Backbone=EffiNet-B4, Epoch=302023.08 | 47.2 | — | 44 | 41.7 | — | 33.8 | |
| VectorMapNetModality=L, Backbone=PointPillars, Epochs=1102022.08 | 37.6 | 25.7 | 38.6 | 34 | — | — | |
| VectorMapNetModality=LiDAR2022.06 | 37.6 | 25.7 | 38.6 | 34 | — | — | |
| VectorMapNetModality=L, Backbone=PP, Epoch=1102023.08 | 37.6 | — | 38.6 | 34 | — | 25.7 | |
| HDMapNetModality=C & L, Backbone=Effi-B0 & PointPillars, Epochs=302022.08 | 29.6 | 16.3 | 46.7 | 31 | 0.5 | — | |
| HDMapNetModality=Fusion2022.06 | 29.6 | 16.3 | 46.7 | 31 | — | — | |
| HDMapNetEpoch=30, Input Modality=Multi-view images and LiDAR point clouds2024.03 | 29.6 | 16.3 | 46.7 | 31 | — | — | |
| HDMapNetModality=C & L, Backbone=Effi-B0 & PP, Epoch=302023.08 | 29.6 | — | 46.7 | 31 | 0.5 | 16.3 | |
| HDMapNetModality=L, Backbone=PointPillars, Epochs=302022.08 | 24.1 | 10.4 | 37.9 | 24.1 | 1 | — | |
| HDMapNetModality=LiDAR2022.06 | 24.1 | 10.4 | 37.9 | 24.1 | — | — | |
| HDMapNetModality=L, Backbone=PP, Epoch=302023.08 | 24.1 | — | 37.9 | 24.1 | 1.1 | 10.4 | |
| HDMapNetModality=C, Backbone=Effi-B0, Epochs=302022.08 | 21.7 | 14.4 | 33 | 23 | 0.8 | — | |
| HDMapNetModality=Camera2022.06 | 21.7 | 14.4 | 33 | 23 | — | — | |
| HDMapNetModality=C, Backbone=Effi-B0, Epoch=302023.08 | 21.7 | — | 33 | 23 | 0.9 | 14.4 | |
| UIGenMap-dBackbone=Swin-Tiny, Epochs=24, Mimic Query=true2025.03 | 21.2 | 24.7 | 28.8 | 24.9 | 8.5 | — | |
| UIGenMapBackbone=ResNet-50, Epochs=242025.03 | 20.7 | 24.1 | 26.1 | 23.6 | 8.2 | — | |
| StreamMapNetBackbone=Swin-Tiny, Epochs=242025.03 | 19.7 | 21.8 | 25.8 | 22.4 | 9.3 | — | |
| UIGenMap-dBackbone=ResNet-50, Epochs=24, Mimic Query=true2025.03 | 19.6 | 23.1 | 25.4 | 22.7 | 12.2 | — | |
| MapTRv2Backbone=ResNet-50, Epochs=242025.03 | 18.6 | 18.9 | 27.9 | 21.8 | 12.9 | — | |
| MGMapBackbone=ResNet-50, Epochs=242025.03 | 17.8 | 10.9 | 24.7 | 17.8 | 11.5 | — | |
| StreamMapNetBackbone=ResNet-50, Epochs=242025.03 | 16.4 | 18.7 | 22.7 | 19.3 | 13.3 | — | |
| GeMapBackbone=ResNet-50, Epochs=242025.03 | 16.3 | 12.9 | 26.7 | 18.6 | 11.6 | — | |
| MapQRBackbone=ResNet-50, Epochs=242025.03 | 15.8 | 10.2 | 25.5 | 17.2 | 12.1 | — | |
| MapTRBackbone=ResNet-50, Epochs=242025.03 | 12.9 | 11.1 | 21.1 | 15 | 15.8 | — | |
| STSUModality=Camera2022.06 | 11.6 | 7 | 16.5 | 11.7 | — | — |