arXiv subjects

Guisong Chen

Publications and source records attributed to Guisong Chen.

2 recordsLinked to original sources

arXiv2025

Uni-PrevPredMap: Extending PrevPredMap to a Unified Framework of Prior-Informed Modeling for Online Vectorized HD Map Construction

Safety constitutes a foundational imperative for autonomous driving systems, necessitating maximal incorporation of accessible prior information. This study establishes that temporal perception buffers and cost-efficient high-definition (HD) maps inherently form complementary prior sources for online vectorized HD map construction. We present Uni-PrevPredMap, a pioneering unified framework systematically integrating previous predictions with corrupted HD maps. Our framework introduces a tri-mode paradigm maintaining operational consistency across non-prior, temporal-prior, and temporal-map-fusion modes. This tri-mode paradigm simultaneously decouples the framework from ideal map assumptions while ensuring robust performance in both map-present and map-absent scenarios. Additionally, we develop a tile-indexed 3D vectorized global map processor enabling efficient 3D prior data refreshment, compact storage, and real-time retrieval. Uni-PrevPredMap achieves state-of-the-art map-absent performance across established online vectorized HD map construction benchmarks. When provided with corrupted HD maps, it exhibits robust capabilities in error-resilient prior fusion, empirically confirming the synergistic complementarity between temporal predictions and imperfect map data. Code is available at https://github.com/pnnnnnnn/Uni-PrevPredMap.

cs.CV↗

arXiv2024

PrevPredMap: Exploring Temporal Modeling with Previous Predictions for Online Vectorized HD Map Construction

Temporal information is crucial for detecting occluded instances. Existing temporal representations have progressed from BEV or PV features to more compact query features. Compared to these aforementioned features, predictions offer the highest level of abstraction, providing explicit information. In the context of online vectorized HD map construction, this unique characteristic of predictions is potentially advantageous for long-term temporal modeling and the integration of map priors. This paper introduces PrevPredMap, a pioneering temporal modeling framework that leverages previous predictions for constructing online vectorized HD maps. We have meticulously crafted two essential modules for PrevPredMap: the previous-predictions-based query generator and the dynamic-position-query decoder. Specifically, the previous-predictions-based query generator is designed to separately encode different types of information from previous predictions, which are then effectively utilized by the dynamic-position-query decoder to generate current predictions. Furthermore, we have developed a dual-mode strategy to ensure PrevPredMap's robust performance across both single-frame and temporal modes. Extensive experiments demonstrate that PrevPredMap achieves state-of-the-art performance on the nuScenes and Argoverse2 datasets. Code will be available at https://github.com/pnnnnnnn/PrevPredMap.

cs.CV↗