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arXiv · 2506.15313

MapFM: Foundation Model-Driven HD Mapping with Multi-Task Contextual Learning

Leonid Ivanov·Vasily Yuryev·Dmitry Yudin
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Abstract

In autonomous driving, high-definition (HD) maps and semantic maps in bird's-eye view (BEV) are essential for accurate localization, planning, and decision-making. This paper introduces an enhanced End-to-End model named MapFM for online vectorized HD map generation. We show significantly boost feature representation quality by incorporating powerful foundation model for encoding camera images. To further enrich the model's understanding of the environment and improve prediction quality, we integrate auxiliary prediction heads for semantic segmentation in the BEV representation. This multi-task learning approach provides richer contextual supervision, leading to a more comprehensive scene representation and ultimately resulting in higher accuracy and improved quality of the predicted vectorized HD maps. The source code is available at https://github.com/LIvanoff/MapFM.

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Leonid Ivanov, Vasily Yuryev, Dmitry Yudin. 2025-06-18. MapFM: Foundation Model-Driven HD Mapping with Multi-Task Contextual Learning. https://arxiv.org/abs/2506.15313

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