mlsanityData to 14 Oct 2026

MapPrior: Bird's-Eye View Map Layout Estimation with Generative Models

arXiv 2308.12963 ↗First posted 24 Aug 2023cs.CV cs.ROcited by 21

Not on the map. Why?

Abstract (arXiv)

Despite tremendous advancements in bird's-eye view (BEV) perception, existing models fall short in generating realistic and coherent semantic map layouts, and they fail to account for uncertainties arising from partial sensor information (such as occlusion or limited coverage). In this work, we introduce MapPrior, a novel BEV perception framework that combines a traditional discriminative BEV perception model with a learned generative model for semantic map layouts. Our MapPrior delivers predictions with better accuracy, realism, and uncertainty awareness. We evaluate our model on the large-scale nuScenes benchmark. At the time of submission, MapPrior outperforms the strongest competing method, with significantly improved MMD and ECE scores in camera- and LiDAR-based BEV perception.

Key facts. Cited by 21 papers in the map (data through 14 Oct 2026). Builds on 65 of its 88 references that are in the map. First posted on arXiv 24 Aug 2023.

Builds on

65 of 88 references.

References · 65

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50 most cited of 65 All 65 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 9; 2025: 6; 2026: 6.

21 papers.

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  1. 2024LidarDM: Generative LiDAR Simulation in a Generated Worldcited by 54
  2. 2024MapExpert: Online HD Map Construction with Simple and Efficient Sparse Map Element Expertcited by 17
  3. 2024DiffMap: Enhancing Map Segmentation with Map Prior Using Diffusion Modelcited by 13
  4. 2024Map It Anywhere (MIA): Empowering Bird's Eye View Mapping using Large-scale Public Datacited by 5
  5. 2024Enhancing Lane Segment Perception and Topology Reasoning with Crowdsourcing Trajectory Priorscited by 5
  6. 2024Predictive Uncertainty Quantification for Bird's Eye View Segmentation: A Benchmark and Novel Loss Functioncited by 2
  7. 2024Progressive Query Refinement Framework for Bird's-Eye-View Semantic Segmentation from Surrounding Imagescited by 2
  8. 2024VQ-Map: Bird's-Eye-View Map Layout Estimation in Tokenized Discrete Space via Vector Quantizationcited by 2
  9. 2025Diffusion-Based Generative Models for 3D Occupancy Prediction in Autonomous Drivingcited by 2
  10. 2025PriorFusion: Unified Integration of Priors for Robust Road Perception in Autonomous Drivingcited by 2
  11. 2025BridgeTA: Bridging the Representation Gap in Knowledge Distillation via Teacher Assistant for Bird's Eye View Map Segmentationcited by 2
  12. 2025From Static to Dynamic: a Survey of Topology-Aware Perception in Autonomous Drivingcited by 2
9 more
  1. 2026What's Hidden Matters: Identifying Planning-Critical Occluded Agents using Vision-Language Modelscited by 1
  2. 2024Addressing Diverging Training Costs using BEVRestore for High-resolution Bird's Eye View Map Constructioncited by 0
  3. 2025L2G-Map: Local-to-Global Mapping via Hierarchical Diffusion Refinement and Elliptical Bayesian Fusioncited by 0
  4. 2025MAESTRO: Task-Relevant Optimization via Adaptive Feature Enhancement and Suppression for Multi-task 3D Perceptioncited by 0
  5. 2026CycleBEV: Regularizing View Transformation Networks via View Cycle Consistency for Bird's-Eye-View Semantic Segmentationcited by 0
  6. 2026FlatLands: Generative Floormap Completion From a Single Egocentric Viewcited by 0
  7. 2026GSMap: 2D Gaussians for Online HD Mappingcited by 0
  8. 2026GraphBEV++: Multi-Modal Feature Alignment for Autonomous Drivingcited by 0
  9. 2026Generative Lane Topology Reasoning via Autoregressive Model with Geometry Priorcited by 0