mlsanityData to 14 Oct 2026

StreamMapNet: Streaming Mapping Network for Vectorized Online HD Map Construction

arXiv 2308.12570 ↗First posted 24 Aug 2023cs.CVcited by 145

Not on the map. Why?

Cited by 26 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

High-Definition (HD) maps are essential for the safety of autonomous driving systems. While existing techniques employ camera images and onboard sensors to generate vectorized high-precision maps, they are constrained by their reliance on single-frame input. This approach limits their stability and performance in complex scenarios such as occlusions, largely due to the absence of temporal information. Moreover, their performance diminishes when applied to broader perception ranges. In this paper, we present StreamMapNet, a novel online mapping pipeline adept at long-sequence temporal modeling of videos. StreamMapNet employs multi-point attention and temporal information which empowers the construction of large-range local HD maps with high stability and further addresses the limitations of existing methods. Furthermore, we critically examine widely used online HD Map construction benchmark and datasets, Argoverse2 and nuScenes, revealing significant bias in the existing evaluation protocols. We propose to resplit the benchmarks according to geographical spans, promoting fair and precise evaluations. Experimental results validate that StreamMapNet significantly outperforms existing methods across all settings while maintaining an online inference speed of 14.2 FPS. Our code is available at https://github.com/yuantianyuan01/StreamMapNet.

Key facts. Cited by 145 papers in the map (data through 14 Oct 2026). Builds on 24 of its 30 references that are in the map. First posted on arXiv 24 Aug 2023.

Builds on

24 of 30 references.

References · 24

  1. 2017Attention Is All You Needcited by 60,361
  2. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  3. 2020End-to-End Object Detection with Transformerscited by 7,414
  4. 2016Feature Pyramid Networks for Object Detectioncited by 5,036
  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. 2014Empirical Evaluation of Gated Recurrent Neural Networks on Sequence Modelingcited by 2,367
  8. 2017Decoupled Weight Decay Regularizationcited by 1,831
  9. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,218
  10. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,044
  11. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 707
  12. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 530
12 more
  1. 2020Learning Lane Graph Representations for Motion Forecastingcited by 382
  2. 2022BEVDet4D: Exploit Temporal Cues in Multi-camera 3D Object Detectioncited by 341
  3. 2023Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detectioncited by 315
  4. 2022MapTR: Structured Modeling and Learning for Online Vectorized HD Map Constructioncited by 314
  5. 2022BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervisioncited by 302
  6. 2022VectorMapNet: End-to-end Vectorized HD Map Learningcited by 245
  7. 2022Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detectioncited by 178
  8. 2020Predicting Semantic Map Representations from Images using Pyramid Occupancy Networkscited by 175
  9. 2023Sparse4D v2: Recurrent Temporal Fusion with Sparse Modelcited by 93
  10. 2023End-to-End Vectorized HD-map Construction with Piecewise Bezier Curvecited by 82
  11. 2023Neural Map Prior for Autonomous Drivingcited by 68
  12. 2023Exploring Recurrent Long-term Temporal Fusion for Multi-view 3D Perceptioncited by 65

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 5; 2024: 41; 2025: 58; 2026: 41.

145 papers.

Sort:

By area:

  1. 2023Is Ego Status All You Need for Open-Loop End-to-End Autonomous Driving?cited by 242
  2. 2024SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representationcited by 241
  3. 2024EMMA: End-to-End Multimodal Model for Autonomous Drivingcited by 231
  4. 2025Hydra-MDP++: Advancing End-to-End Driving via Expert-Guided Hydra-Distillationcited by 96
  5. 2024MapTracker: Tracking with Strided Memory Fusion for Consistent Vector HD Mappingcited by 68
  6. 2023Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Mapscited by 58
  7. 2023LaneSegNet: Map Learning with Lane Segment Perception for Autonomous Drivingcited by 57
  8. 2024P-MapNet: Far-seeing Map Generator Enhanced by both SDMap and HDMap Priorscited by 54
  9. 2024SparseAD: Sparse Query-Centric Paradigm for Efficient End-to-End Autonomous Drivingcited by 47
  10. 2024Leveraging Enhanced Queries of Point Sets for Vectorized Map Constructioncited by 46
  11. 2023Localization Is All You Evaluate: Data Leakage in Online Mapping Datasets and How to Fix Itcited by 44
  12. 2024Stream Query Denoising for Vectorized HD Map Constructioncited by 43
38 more
  1. 2023Online Vectorized HD Map Construction using Geometrycited by 42
  2. 2025HiP-AD: Hierarchical and Multi-Granularity Planning with Deformable Attention for Autonomous Driving in a Single Decodercited by 35
  3. 2024Producing and Leveraging Online Map Uncertainty in Trajectory Predictioncited by 33
  4. 2024Enhancing Vectorized Map Perception with Historical Rasterized Mapscited by 29
  5. 2024Is Your HD Map Constructor Reliable under Sensor Corruptions?cited by 28
  6. 2024PreSight: Enhancing Autonomous Vehicle Perception with City-Scale NeRF Priorscited by 21
  7. 2024Are NeRFs ready for autonomous driving? Towards closing the real-to-simulation gapcited by 20
  8. 2024MapExpert: Online HD Map Construction with Simple and Efficient Sparse Map Element Expertcited by 17
  9. 2025Chameleon: Fast-slow Neuro-symbolic Lane Topology Extractioncited by 16
  10. 2025Data Scaling Laws for End-to-End Autonomous Drivingcited by 15
  11. 2026ResWorld: Temporal Residual World Model for End-to-End Autonomous Drivingcited by 15
  12. 2024ADMap: Anti-disturbance framework for reconstructing online vectorized HD mapcited by 14
  13. 2025SafeMap: Robust HD Map Construction from Incomplete Observationscited by 14
  14. 2025Reasoning-VLA: A Fast and General Vision-Language-Action Reasoning Model for Autonomous Drivingcited by 14
  15. 2024GlobalMapNet: An Online Framework for Vectorized Global HD Map Constructioncited by 13
  16. 2025MapDiffusion: Generative Diffusion for Vectorized Online HD Map Construction and Uncertainty Estimation in Autonomous Drivingcited by 13
  17. 2024PrevPredMap: Exploring Temporal Modeling with Previous Predictions for Online Vectorized HD Map Constructioncited by 12
  18. 2024Unveiling the Hidden: Online Vectorized HD Map Construction with Clip-Level Token Interaction and Propagationcited by 12
  19. 2024CurveFormer++: 3D Lane Detection by Curve Propagation with Temporal Curve Queries and Attentioncited by 10
  20. 2024DTCLMapper: Dual Temporal Consistent Learning for Vectorized HD Map Constructioncited by 10
  21. 2024MemFusionMap: Working Memory Fusion for Online Vectorized HD Map Constructioncited by 9
  22. 2024MGMapNet: Multi-Granularity Representation Learning for End-to-End Vectorized HD Map Constructioncited by 9
  23. 2025Rethinking Temporal Fusion with a Unified Gradient Descent View for 3D Semantic Occupancy Predictioncited by 9
  24. 2025What Really Matters for Robust Multi-Sensor HD Map Construction?cited by 9
  25. 2024Accelerating Online Mapping and Behavior Prediction via Direct BEV Feature Attentioncited by 8
  26. 2024Anchor3DLane++: 3D Lane Detection via Sample-Adaptive Sparse 3D Anchor Regressioncited by 8
  27. 2025HisTrackMap: Global Vectorized High-Definition Map Construction via History Map Trackingcited by 8
  28. 2025InteractionMap: Improving Online Vectorized HDMap Construction with Interactioncited by 8
  29. 2025SDTagNet: Leveraging Text-Annotated Navigation Maps for Online HD Map Constructioncited by 8
  30. 2024TopoMaskV2: Enhanced Instance-Mask-Based Formulation for the Road Topology Problemcited by 7
  31. 2025Stability Under Scrutiny: Benchmarking Representation Paradigms for Online HD Mappingcited by 7
  32. 2024Improving Hierarchical Representations of Vectorized HD Maps with Perspective Cluescited by 6
  33. 2025AugMapNet: Improving Spatial Latent Structure via BEV Grid Augmentation for Enhanced Vectorized Online HD Map Constructioncited by 6
  34. 2025Delving into Mapping Uncertainty for Mapless Trajectory Predictioncited by 6
  35. 2025DAMap: Distance-aware MapNet for High Quality HD Map Constructioncited by 6
  36. 2025LaneDiffusion: Improving Centerline Graph Learning via Prior Injected BEV Feature Generationcited by 6
  37. 2024TempBEV: Improving Learned BEV Encoders with Combined Image and BEV Space Temporal Aggregationcited by 5
  38. 2024Enhancing Lane Segment Perception and Topology Reasoning with Crowdsourcing Trajectory Priorscited by 5

50 most cited of 145 All 145 (JSON)