mlsanityData to 14 Oct 2026

MapTRv2: An End-to-End Framework for Online Vectorized HD Map Construction

arXiv 2308.05736 ↗First posted 10 Aug 2023cs.CV cs.ROcited by 193

Not on the map. Why?

Cited by 36 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

High-definition (HD) map provides abundant and precise static environmental information of the driving scene, serving as a fundamental and indispensable component for planning in autonomous driving system. In this paper, we present Map TRansformer, an end-to-end framework for online vectorized HD map construction. We propose a unified permutation-equivalent modeling approach, ie, modeling map element as a point set with a group of equivalent permutations, which accurately describes the shape of map element and stabilizes the learning process. We design a hierarchical query embedding scheme to flexibly encode structured map information and perform hierarchical bipartite matching for map element learning. To speed up convergence, we further introduce auxiliary one-to-many matching and dense supervision. The proposed method well copes with various map elements with arbitrary shapes. It runs at real-time inference speed and achieves state-of-the-art performance on both nuScenes and Argoverse2 datasets. Abundant qualitative results show stable and robust map construction quality in complex and various driving scenes. Code and more demos are available at urlhttps://github.com/hustvl/MapTR for facilitating further studies and applications.

Key facts. Cited by 193 papers in the map (data through 14 Oct 2026). Builds on 75 of its 108 references that are in the map. First posted on arXiv 10 Aug 2023.

Builds on

75 of 108 references.

References · 75

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,139
  3. 2020End-to-End Object Detection with Transformerscited by 7,414
  4. 2019EfficientNet: Rethinking Model Scaling for Convolutional Neural Networkscited by 6,442
  5. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  6. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,422
  7. 2021Masked-attention Mask Transformer for Universal Image Segmentationcited by 2,351
  8. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,715
  9. 2022DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detectioncited by 1,319
  10. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,218
  11. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,044
  12. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 850
38 more
  1. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 713
  2. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 707
  3. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 658
  4. 2023VAD: Vectorized Scene Representation for Efficient Autonomous Drivingcited by 622
  5. 2022DAB-DETR: Dynamic Anchor Boxes are Better Queries for DETRcited by 573
  6. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 572
  7. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 552
  8. 2022DN-DETR: Accelerate DETR Training by Introducing Query DeNoisingcited by 488
  9. 2021Conditional DETR for Fast Training Convergencecited by 424
  10. 2022Mask DINO: Towards A Unified Transformer-based Framework for Object Detection and Segmentationcited by 344
  11. 2022MapTR: Structured Modeling and Learning for Online Vectorized HD Map Constructioncited by 314
  12. 2021HDMapNet: An Online HD Map Construction and Evaluation Frameworkcited by 281
  13. 2022Cross-view Transformers for real-time Map-view Semantic Segmentationcited by 264
  14. 2021Is Pseudo-Lidar needed for Monocular 3D Object detection?cited by 249
  15. 2022VectorMapNet: End-to-end Vectorized HD Map Learningcited by 245
  16. 2023Parting with Misconceptions about Learning-based Vehicle Motion Planningcited by 242
  17. 2021PV-RCNN++: Point-Voxel Feature Set Abstraction With Local Vector Representation for 3D Object Detectioncited by 232
  18. 2022BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Drivingcited by 191
  19. 2019PolarMask: Single Shot Instance Segmentation with Polar Representationcited by 188
  20. 2020LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mappingcited by 188
  21. 2021You Only Look at One Sequence: Rethinking Transformer in Vision through Object Detectioncited by 170
  22. 2019An Energy and GPU-Computation Efficient Backbone Network for Real-Time Object Detectioncited by 163
  23. 2022Sparse4D: Multi-view 3D Object Detection with Sparse Spatial-Temporal Fusioncited by 162
  24. 2021Instances as Queriescited by 158
  25. 2022DETRs with Hybrid Matchingcited by 150
  26. 2022PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmarkcited by 140
  27. 2020Keep your Eyes on the Lane: Real-time Attention-guided Lane Detectioncited by 138
  28. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  29. 2022Vision-Centric BEV Perception: A Surveycited by 126
  30. 2022Delving into the Devils of Bird's-eye-view Perception: A Review, Evaluation and Recipecited by 122
  31. 2018Efficient Interactive Annotation of Segmentation Datasets with Polygon-RNN++cited by 120
  32. 2020Deep Snake for Real-Time Instance Segmentationcited by 112
  33. 2020End-to-end Lane Shape Prediction with Transformerscited by 111
  34. 20183D-LaneNet: End-to-End 3D Multiple Lane Detectioncited by 107
  35. 2021TokenPose: Learning Keypoint Tokens for Human Pose Estimationcited by 107
  36. 2021Pose Recognition with Cascade Transformerscited by 99
  37. 2021Structured Bird's-Eye-View Traffic Scene Understanding from Onboard Imagescited by 98
  38. 2019Fast Interactive Object Annotation with Curve-GCNcited by 95

50 most cited of 75 All 75 (JSON)

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 7; 2024: 65; 2025: 77; 2026: 44.

193 papers.

Sort:

By area:

  1. 2024DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Drivingcited by 334
  2. 2024VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planningcited by 289
  3. 2024EMMA: End-to-End Multimodal Model for Autonomous Drivingcited by 231
  4. 2024Senna: Bridging Large Vision-Language Models and End-to-End Autonomous Drivingcited by 156
  5. 2024Editable Scene Simulation for Autonomous Driving via Collaborative LLM-Agentscited by 91
  6. 2025RAD: Training an End-to-End Driving Policy via Large-Scale 3DGS-based Reinforcement Learningcited by 79
  7. 2024MapTracker: Tracking with Strided Memory Fusion for Consistent Vector HD Mappingcited by 68
  8. 2023LaneSegNet: Map Learning with Lane Segment Perception for Autonomous Drivingcited by 57
  9. 2025DiffusionDriveV2: Reinforcement Learning-Constrained Truncated Diffusion Modeling in End-to-End Autonomous Drivingcited by 56
  10. 2024MGMap: Mask-Guided Learning for Online Vectorized HD Map Constructioncited by 52
  11. 2024HIMap: HybrId Representation Learning for End-to-end Vectorized HD Map Constructioncited by 48
  12. 2024Leveraging Enhanced Queries of Point Sets for Vectorized Map Constructioncited by 46
38 more
  1. 2023Localization Is All You Evaluate: Data Leakage in Online Mapping Datasets and How to Fix Itcited by 44
  2. 2023Online Vectorized HD Map Construction using Geometrycited by 42
  3. 2024Solving Motion Planning Tasks with a Scalable Generative Modelcited by 40
  4. 2024Producing and Leveraging Online Map Uncertainty in Trajectory Predictioncited by 33
  5. 2024TopoLogic: An Interpretable Pipeline for Lane Topology Reasoning on Driving Scenescited by 29
  6. 2024Enhancing Vectorized Map Perception with Historical Rasterized Mapscited by 29
  7. 2024Is Your HD Map Constructor Reliable under Sensor Corruptions?cited by 28
  8. 2025Scenario Dreamer: Vectorized Latent Diffusion for Generating Driving Simulation Environmentscited by 28
  9. 2024MapDistill: Boosting Efficient Camera-based HD Map Construction via Camera-LiDAR Fusion Model Distillationcited by 26
  10. 2024Mask2Map: Vectorized HD Map Construction Using Bird's Eye View Segmentation Maskscited by 26
  11. 2024Enhancing 3D Lane Detection and Topology Reasoning with 2D Lane Priorscited by 21
  12. 2025MapFusion: A Novel BEV Feature Fusion Network for Multi-modal Map Constructioncited by 21
  13. 2024Are NeRFs ready for autonomous driving? Towards closing the real-to-simulation gapcited by 20
  14. 2023InsMapper: Exploring Inner-instance Information for Vectorized HD Mappingcited by 19
  15. 2024DualAD: Disentangling the Dynamic and Static World for End-to-End Drivingcited by 17
  16. 2024RoadPainter: Points Are Ideal Navigators for Topology transformERcited by 17
  17. 2024MapExpert: Online HD Map Construction with Simple and Efficient Sparse Map Element Expertcited by 17
  18. 2024LiDAR-GS:Real-time LiDAR Re-Simulation using Gaussian Splattingcited by 15
  19. 2025Data Scaling Laws for End-to-End Autonomous Drivingcited by 15
  20. 2026ResWorld: Temporal Residual World Model for End-to-End Autonomous Drivingcited by 15
  21. 2024InverseMatrixVT3D: An Efficient Projection Matrix-Based Approach for 3D Occupancy Predictioncited by 14
  22. 2024ADMap: Anti-disturbance framework for reconstructing online vectorized HD mapcited by 14
  23. 2025UncAD: Towards Safe End-to-end Autonomous Driving via Online Map Uncertaintycited by 14
  24. 2025SafeMap: Robust HD Map Construction from Incomplete Observationscited by 14
  25. 2024DiffMap: Enhancing Map Segmentation with Map Prior Using Diffusion Modelcited by 13
  26. 2025MapDiffusion: Generative Diffusion for Vectorized Online HD Map Construction and Uncertainty Estimation in Autonomous Drivingcited by 13
  27. 2024SemVecNet: Generalizable Vector Map Generation for Arbitrary Sensor Configurationscited by 12
  28. 2024BLOS-BEV: Navigation Map Enhanced Lane Segmentation Network, Beyond Line of Sightcited by 12
  29. 2024PrevPredMap: Exploring Temporal Modeling with Previous Predictions for Online Vectorized HD Map Constructioncited by 12
  30. 2024Unveiling the Hidden: Online Vectorized HD Map Construction with Clip-Level Token Interaction and Propagationcited by 12
  31. 2024TopoSD: Topology-Enhanced Lane Segment Perception with SDMap Priorcited by 12
  32. 2025SMART: Advancing Scalable Map Priors for Driving Topology Reasoningcited by 12
  33. 2024Enhancing Online Road Network Perception and Reasoning with Standard Definition Mapscited by 11
  34. 2024Driving by the Rules: A Benchmark for Integrating Traffic Sign Regulations into Vectorized HD Mapcited by 11
  35. 2024DTCLMapper: Dual Temporal Consistent Learning for Vectorized HD Map Constructioncited by 10
  36. 2024PriorDrive: Enhancing Online HD Mapping with Unified Vector Priorscited by 10
  37. 2025SeqGrowGraph: Learning Lane Topology as a Chain of Graph Expansionscited by 10
  38. 2024PolyRoom: Room-aware Transformer for Floorplan Reconstructioncited by 9

50 most cited of 193 All 193 (JSON)