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arXiv · 2412.16938

ImagineMap: Enhanced HD Map Construction with SD Maps

Yishen Ji·Zhiqi Li·Tong Lu
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Abstract

Track Mapless demands models to process multi-view images and Standard-Definition (SD) maps, outputting lane and traffic element perceptions along with their topological relationships. We propose a novel architecture that integrates SD map priors to improve lane line and area detection performance. Inspired by TopoMLP, our model employs a two-stage structure: perception and reasoning. The downstream topology head uses the output from the upstream detection head, meaning accuracy improvements in detection significantly boost downstream performance.

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Yishen Ji, Zhiqi Li, Tong Lu. 2024-12-22. ImagineMap: Enhanced HD Map Construction with SD Maps. https://arxiv.org/abs/2412.16938

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