mlsanityData to 7 Oct 2026

HDMapNet: An Online HD Map Construction and Evaluation Framework

arXiv 2107.06307 ↗First posted 13 Jul 2021cs.CV cs.AIcited by 280

Not on the map. Why?

Cited by 42 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Constructing HD semantic maps is a central component of autonomous driving. However, traditional pipelines require a vast amount of human efforts and resources in annotating and maintaining the semantics in the map, which limits its scalability. In this paper, we introduce the problem of HD semantic map learning, which dynamically constructs the local semantics based on onboard sensor observations. Meanwhile, we introduce a semantic map learning method, dubbed HDMapNet. HDMapNet encodes image features from surrounding cameras and/or point clouds from LiDAR, and predicts vectorized map elements in the bird's-eye view. We benchmark HDMapNet on nuScenes dataset and show that in all settings, it performs better than baseline methods. Of note, our camera-LiDAR fusion-based HDMapNet outperforms existing methods by more than 50% in all metrics. In addition, we develop semantic-level and instance-level metrics to evaluate the map learning performance. Finally, we showcase our method is capable of predicting a locally consistent map. By introducing the method and metrics, we invite the community to study this novel map learning problem.

Key facts. Cited by 280 papers in the map (data through 7 Oct 2026). Builds on 25 of its 55 references that are in the map. First posted on arXiv 13 Jul 2021.

Builds on

25 of 55 references.

References · 25

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  3. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  4. 2014ImageNet Large Scale Visual Recognition Challengecited by 8,441
  5. 2019EfficientNet: Rethinking Model Scaling for Convolutional Neural Networkscited by 6,415
  6. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  7. 2016Feature Pyramid Networks for Object Detectioncited by 5,021
  8. 2014Fully Convolutional Networks for Semantic Segmentationcited by 4,845
  9. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  10. 2016The Cityscapes Dataset for Semantic Urban Scene Understandingcited by 4,427
  11. 2016Aggregated Residual Transformations for Deep Neural Networkscited by 2,540
  12. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
13 more
  1. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,040
  2. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 528
  3. 2020Predicting Semantic Map Representations from Images using Pyramid Occupancy Networkscited by 175
  4. 2019Cross-view Semantic Segmentation for Sensing Surroundingscited by 173
  5. 2019End-to-End Multi-View Fusion for 3D Object Detection in LiDAR Point Cloudscited by 171
  6. 2018Towards End-to-End Lane Detection: an Instance Segmentation Approachcited by 129
  7. 20183D-LaneNet: End-to-End 3D Multiple Lane Detectioncited by 106
  8. 2020Gen-LaneNet: A Generalized and Scalable Approach for 3D Lane Detectioncited by 75
  9. 2018Restricted Deformable Convolution based Road Scene Semantic Segmentation Using Surround View Camerascited by 42
  10. 2021HDMapGen: A Hierarchical Graph Generative Model of High Definition Mapscited by 40
  11. 2018LaneNet: Real-Time Lane Detection Networks for Autonomous Drivingcited by 39
  12. 2019Deep Multi-Sensor Lane Detectioncited by 30
  13. 2018Efficient Semantic Segmentation for Visual Bird's-eye View Interpretationcited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 19; 2023: 61; 2024: 84; 2025: 73; 2026: 43.

280 papers.

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  1. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 844
  2. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
  3. 2023VAD: Vectorized Scene Representation for Efficient Autonomous Drivingcited by 613
  4. 2023End-to-end Autonomous Driving: Challenges and Frontierscited by 485
  5. 2022MapTR: Structured Modeling and Learning for Online Vectorized HD Map Constructioncited by 311
  6. 2024VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planningcited by 287
  7. 2024SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representationcited by 239
  8. 2023OccWorld: Learning a 3D Occupancy World Model for Autonomous Drivingcited by 230
  9. 2024EMMA: End-to-End Multimodal Model for Autonomous Drivingcited by 226
  10. 2024GenAD: Generative End-to-End Autonomous Drivingcited by 225
  11. 2023Scene as Occupancycited by 208
  12. 2023MapTRv2: An End-to-End Framework for Online Vectorized HD Map Constructioncited by 192
38 more
  1. 2022PolarFormer: Multi-camera 3D Object Detection with Polar Transformercited by 147
  2. 2022Learning from All Vehiclescited by 135
  3. 2022Vision-Centric BEV Perception: A Surveycited by 126
  4. 2022Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipecited by 122
  5. 2023PivotNet: Vectorized Pivot Learning for End-to-end HD Map Constructioncited by 84
  6. 2023CRN: Camera Radar Net for Accurate, Robust, Efficient 3D Perceptioncited by 81
  7. 2023End-to-End Vectorized HD-map Construction with Piecewise Bezier Curvecited by 80
  8. 2023UniTR: A Unified and Efficient Multi-Modal Transformer for Bird's-Eye-View Representationcited by 74
  9. 2023SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Drivingcited by 72
  10. 2024MapTracker: Tracking with Strided Memory Fusion for Consistent Vector HD Mappingcited by 67
  11. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  12. 2023Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Mapscited by 58
  13. 2023LaneSegNet: Map Learning with Lane Segment Perception for Autonomous Drivingcited by 57
  14. 2023Online Map Vectorization for Autonomous Driving: A Rasterization Perspectivecited by 54
  15. 2024P-MapNet: Far-seeing Map Generator Enhanced by both SDMap and HDMap Priorscited by 54
  16. 2023Graph-based Topology Reasoning for Driving Scenescited by 53
  17. 2024MGMap: Mask-Guided Learning for Online Vectorized HD Map Constructioncited by 52
  18. 2023Lane Graph as Path: Continuity-preserving Path-wise Modeling for Online Lane Graph Constructioncited by 50
  19. 2024HIMap: HybrId Representation Learning for End-to-end Vectorized HD Map Constructioncited by 48
  20. 2024Leveraging Enhanced Queries of Point Sets for Vectorized Map Constructioncited by 46
  21. 2024SparseAD: Sparse Query-Centric Paradigm for Efficient End-to-End Autonomous Drivingcited by 46
  22. 2024Navigation-Guided Sparse Scene Representation for End-to-End Autonomous Drivingcited by 46
  23. 2023Localization Is All You Evaluate: Data Leakage in Online Mapping Datasets and How to Fix Itcited by 44
  24. 2024Stream Query Denoising for Vectorized HD Map Constructioncited by 43
  25. 2023Online Vectorized HD Map Construction using Geometrycited by 42
  26. 2023TopoMLP: A Simple yet Strong Pipeline for Driving Topology Reasoningcited by 41
  27. 2023InstaGraM: Instance-level Graph Modeling for Vectorized HD Map Learningcited by 40
  28. 2022SuperFusion: Multilevel LiDAR-Camera Fusion for Long-Range HD Map Generationcited by 39
  29. 2023EA-LSS: Edge-aware Lift-splat-shot Framework for 3D BEV Object Detectioncited by 38
  30. 2023PolyDiffuse: Polygonal Shape Reconstruction via Guided Set Diffusion Modelscited by 36
  31. 2023SkyEye: Self-Supervised Bird's-Eye-View Semantic Mapping Using Monocular Frontal View Imagescited by 35
  32. 2025HiP-AD: Hierarchical and Multi-Granularity Planning with Deformable Attention for Autonomous Driving in a Single Decodercited by 35
  33. 2023UniWorld: Autonomous Driving Pre-training via World Modelscited by 32
  34. 2024Producing and Leveraging Online Map Uncertainty in Trajectory Predictioncited by 32
  35. 2023TBP-Former: Learning Temporal Bird's-Eye-View Pyramid for Joint Perception and Prediction in Vision-Centric Autonomous Drivingcited by 30
  36. 2024TopoLogic: An Interpretable Pipeline for Lane Topology Reasoning on Driving Scenescited by 29
  37. 2024Enhancing Vectorized Map Perception with Historical Rasterized Mapscited by 29
  38. 2022Perceive, Interact, Predict: Learning Dynamic and Static Clues for End-to-End Motion Predictioncited by 28

50 most cited of 280 All 280 (JSON)