mlsanityData to 7 Oct 2026

Hierarchical Recurrent Attention Networks for Structured Online Maps

arXiv 2012.12314 ↗First posted 22 Dec 2020cs.CVcited by 38

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Abstract (arXiv)

In this paper, we tackle the problem of online road network extraction from sparse 3D point clouds. Our method is inspired by how an annotator builds a lane graph, by first identifying how many lanes there are and then drawing each one in turn. We develop a hierarchical recurrent network that attends to initial regions of a lane boundary and traces them out completely by outputting a structured polyline. We also propose a novel differentiable loss function that measures the deviation of the edges of the ground truth polylines and their predictions. This is more suitable than distances on vertices, as there exists many ways to draw equivalent polylines. We demonstrate the effectiveness of our method on a 90 km stretch of highway, and show that we can recover the right topology 92% of the time.

Key facts. Cited by 38 papers in the map (data through 7 Oct 2026). First posted on arXiv 22 Dec 2020.

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Citing papers per year: 2021: 16; 2022: 7; 2023: 9; 2024: 4; 2025: 2.

38 papers.

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  1. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  2. 2022VectorMapNet: End-to-end Vectorized HD Map Learningcited by 243
  3. 2021MP3: A Unified Model to Map, Perceive, Predict and Plancited by 211
  4. 2021Structured Bird's-Eye-View Traffic Scene Understanding from Onboard Imagescited by 98
  5. 2021Semantics for Robotic Mapping, Perception and Interaction: A Surveycited by 56
  6. 2022ONCE-3DLanes: Building Monocular 3D Lane Detectioncited by 44
  7. 2021Topology Preserving Local Road Network Estimation from Single Onboard Camera Imagecited by 34
  8. 2021Learning to Predict 3D Lane Shape and Camera Pose from a Single Image via Geometry Constraintscited by 30
  9. 2022E2EC: An End-to-End Contour-based Method for High-Quality High-Speed Instance Segmentationcited by 27
  10. 2022RNGDet: Road Network Graph Detection by Transformer in Aerial Imagescited by 26
  11. 2022Trust, but Verify: Cross-Modality Fusion for HD Map Change Detectioncited by 25
  12. 2023Grid-Centric Traffic Scenario Perception for Autonomous Driving: A Comprehensive Reviewcited by 25
26 more
  1. 2022RNGDet++: Road Network Graph Detection by Transformer with Instance Segmentation and Multi-scale Features Enhancementcited by 24
  2. 2021iCurb: Imitation Learning-based Detection of Road Curbs using Aerial Images for Autonomous Drivingcited by 21
  3. 2023Learning and Aggregating Lane Graphs for Urban Automated Drivingcited by 20
  4. 2021Topo-boundary: A Benchmark Dataset on Topological Road-boundary Detection Using Aerial Images for Autonomous Drivingcited by 19
  5. 2023InsMapper: Exploring Inner-instance Information for Vectorized HD Mappingcited by 19
  6. 2021Lane Graph Estimation for Scene Understanding in Urban Drivingcited by 18
  7. 2023ScalableMap: Scalable Map Learning for Online Long-Range Vectorized HD Map Constructioncited by 16
  8. 2022CenterLineDet: CenterLine Graph Detection for Road Lanes with Vehicle-mounted Sensors by Transformer for HD Map Generationcited by 15
  9. 2021csBoundary: City-scale Road-boundary Detection in Aerial Images for High-definition Mapscited by 12
  10. 2021CP-loss: Connectivity-preserving Loss for Road Curb Detection in Autonomous Driving with Aerial Imagescited by 9
  11. 2021VideoClick: Video Object Segmentation with a Single Clickcited by 8
  12. 2023Improving Online Lane Graph Extraction by Object-Lane Clusteringcited by 7
  13. 2021A Scenario-Based Platform for Testing Autonomous Vehicle Behavior Prediction Models in Simulationcited by 6
  14. 2023Pix2Map: Cross-modal Retrieval for Inferring Street Maps from Imagescited by 6
  15. 2024Continuity Preserving Online CenterLine Graph Learningcited by 5
  16. 2021Hierarchical Road Topology Learning for Urban Map-less Drivingcited by 4
  17. 2024Lane Graph Extraction from Aerial Imagery via Lane Segmentation Refinement with Diffusion Modelscited by 4
  18. 2023Learning to Predict Navigational Patterns from Partial Observationscited by 3
  19. 2021Learning a Model for Inferring a Spatial Road Lane Network Graph using Self-Supervisioncited by 2
  20. 2023Prior Based Online Lane Graph Extraction from Single Onboard Camera Imagecited by 2
  21. 2024Flexible 3D Lane Detection by Hierarchical Shape MatchingFlexible 3D Lane Detection by Hierarchical Shape Matchingcited by 2
  22. 2024MeasureNet: Measurement Based Celiac Disease Identificationcited by 1
  23. 2025Learning Isometric Embeddings of Road Networks using Multidimensional Scalingcited by 1
  24. 2021End-to-End Segmentation via Patch-wise Polygons Predictioncited by 0
  25. 2023Online Lane Graph Extraction from Onboard Videocited by 0
  26. 2025Monocular 3D Lane Detection via Structure Uncertainty-Aware Network with Curve-Point Queriescited by 0