mlsanityData to 7 Oct 2026

Trust, but Verify: Cross-Modality Fusion for HD Map Change Detection

arXiv 2212.07312 ↗First posted 14 Dec 2022cs.CVcited by 25

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Abstract (arXiv)

High-definition (HD) map change detection is the task of determining when sensor data and map data are no longer in agreement with one another due to real-world changes. We collect the first dataset for the task, which we entitle the Trust, but Verify (TbV) dataset, by mining thousands of hours of data from over 9 months of autonomous vehicle fleet operations. We present learning-based formulations for solving the problem in the bird's eye view and ego-view. Because real map changes are infrequent and vector maps are easy to synthetically manipulate, we lean on simulated data to train our model. Perhaps surprisingly, we show that such models can generalize to real world distributions. The dataset, consisting of maps and logs collected in six North American cities, is one of the largest AV datasets to date with more than 7.8 million images. We make the data available to the public at https://www.argoverse.org/av2.html#mapchange-link, along with code and models at https://github.com/johnwlambert/tbv under the the CC BY-NC-SA 4.0 license.

Key facts. Cited by 25 papers in the map (data through 7 Oct 2026). Builds on 37 of its 68 references that are in the map. First posted on arXiv 14 Dec 2022.

Builds on

37 of 68 references.

References · 37

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  12. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 528
25 more
  1. 2020Learning Lane Graph Representations for Motion Forecastingcited by 380
  2. 2019Learning by Cheatingcited by 361
  3. 2020TNT: Target-driveN Trajectory Predictioncited by 345
  4. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
  5. 2021End-to-end Interpretable Neural Motion Plannercited by 240
  6. 2020One Thousand and One Hours: Self-driving Motion Prediction Datasetcited by 239
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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 4; 2024: 7; 2025: 10; 2026: 4.

25 papers.

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  1. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
  2. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  3. 2025Trajectory Mamba: Efficient Attention-Mamba Forecasting Model Based on Selective SSMcited by 17
  4. 2024Exploring the Interplay Between Video Generation and World Models in Autonomous Driving: A Surveycited by 14
  5. 2024Exploring Real World Map Change Generalization of Prior-Informed HD Map Prediction Modelscited by 8
  6. 2025LDMapNet-U: An End-to-End System for City-Scale Lane-Level Map Updatingcited by 8
  7. 2025SDTagNet: Leveraging Text-Annotated Navigation Maps for Online HD Map Constructioncited by 8
  8. 2023Pix2Map: Cross-modal Retrieval for Inferring Street Maps from Imagescited by 6
  9. 2023Mind the map! Accounting for existing map information when estimating online HDMaps from sensorcited by 6
  10. 2025RTMap: Real-Time Recursive Mapping with Change Detection and Localizationcited by 5
  11. 2025Uni-PrevPredMap: Extending PrevPredMap to a Unified Framework of Prior-Informed Modeling for Online Vectorized HD Map Constructioncited by 4
  12. 2024ExelMap: Explainable Element-based HD-Map Change Detection and Updatecited by 3
13 more
  1. 2024M3TR: A Generalist Model for Real-World HD Map Completioncited by 3
  2. 2024Generation of Training Data from HD Maps in the Lanelet2 Frameworkcited by 2
  3. 2025Towards Depth Foundation Model: Recent Trends in Vision-Based Depth Estimationcited by 2
  4. 2025nuScenes Revisited: Progress and Challenges in Autonomous Drivingcited by 2
  5. 2023DisPlacing Objects: Improving Dynamic Vehicle Detection via Visual Place Recognition under Adverse Conditionscited by 1
  6. 2024SALVe: Semantic Alignment Verification for Floorplan Reconstruction from Sparse Panoramascited by 1
  7. 2025ArgoTweak: Towards Self-Updating HD Maps through Structured Priorscited by 1
  8. 2025SceneEdited: A City-Scale Benchmark for 3D HD Map Updating via Image-Guided Change Detectioncited by 1
  9. 2026The Road Ahead in Autonomous Driving: The KITScenes Multimodal Datasetcited by 1
  10. 2025EMT: A Visual Multi-Task Benchmark Dataset for Autonomous Drivingcited by 0
  11. 2026FoSS: Modeling Long Range Dependencies and Multimodal Uncertainty in Trajectory Prediction via Fourier State Space Integrationcited by 0
  12. 2026Driving, Fast or Slow? Neuro-Symbolic Guidance for Motion Prediction in Multi-Modal Ground Mobilitycited by 0
  13. 2026Urban Deceleration Behavior Modes Under Scene Context: An Early-Kinematic Classifier from Argoverse 2 Multi-Agent Trajectoriescited by 0