mlsanityData to 7 Oct 2026

Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Maps

arXiv 2311.04079 ↗First posted 7 Nov 2023cs.CVcited by 58

Not on the map. Why?

Abstract (arXiv)

Autonomous driving has traditionally relied heavily on costly and labor-intensive High Definition (HD) maps, hindering scalability. In contrast, Standard Definition (SD) maps are more affordable and have worldwide coverage, offering a scalable alternative. In this work, we systematically explore the effect of SD maps for real-time lane-topology understanding. We propose a novel framework to integrate SD maps into online map prediction and propose a Transformer-based encoder, SD Map Encoder Representations from transFormers, to leverage priors in SD maps for the lane-topology prediction task. This enhancement consistently and significantly boosts (by up to 60%) lane detection and topology prediction on current state-of-the-art online map prediction methods without bells and whistles and can be immediately incorporated into any Transformer-based lane-topology method. Code is available at https://github.com/NVlabs/SMERF.

Key facts. Cited by 58 papers in the map (data through 7 Oct 2026). Builds on 29 of its 35 references that are in the map. First posted on arXiv 7 Nov 2023.

Builds on

29 of 35 references.

References · 29

  1. 2017Attention Is All You Needcited by 59,932
  2. 2016Semi-Supervised Classification with Graph Convolutional Networkscited by 11,282
  3. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,410
  4. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,213
  5. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
  6. 2021DETR3D: 3D Object Detection from Multi-view Images via 3D-to-2D Queriescited by 655
  7. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 550
  8. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 528
  9. 2022MapTR: Structured Modeling and Learning for Online Vectorized HD Map Constructioncited by 311
  10. 2021HDMapNet: An Online HD Map Construction and Evaluation Frameworkcited by 280
  11. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 267
  12. 2022VectorMapNet: End-to-end Vectorized HD Map Learningcited by 243
17 more
  1. 2022FUTR3D: A Unified Sensor Fusion Framework for 3D Detectioncited by 194
  2. 2020Perceive, Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representationscited by 150
  3. 2023StreamMapNet: Streaming Mapping Network for Vectorized Online HD Map Constructioncited by 143
  4. 2023PivotNet: Vectorized Pivot Learning for End-to-end HD Map Constructioncited by 84
  5. 2020HDNET: Exploiting HD Maps for 3D Object Detectioncited by 78
  6. 2023Neural Map Prior for Autonomous Drivingcited by 68
  7. 2023Online Map Vectorization for Autonomous Driving: A Rasterization Perspectivecited by 54
  8. 2023Graph-based Topology Reasoning for Driving Scenescited by 53
  9. 2023Lane Graph as Path: Continuity-preserving Path-wise Modeling for Online Lane Graph Constructioncited by 50
  10. 2023InstaGraM: Instance-level Graph Modeling for Vectorized HD Map Learningcited by 40
  11. 2023Complementing Onboard Sensors with Satellite Map: A New Perspective for HD Map Constructioncited by 28
  12. 2020Are we Missing Confidence in Pseudo-LiDAR Methods for Monocular 3D Object Detection?cited by 27
  13. 2023Bi-Mapper: Holistic BEV Semantic Mapping for Autonomous Drivingcited by 13
  14. 2023NeMO: Neural Map Growing System for Spatiotemporal Fusion in Bird's-Eye-View and BDD-Map Benchmarkcited by 11
  15. 2023The 1st-place Solution for CVPR 2023 OpenLane Topology in Autonomous Driving Challengecited by 10
  16. 2023Prior Based Online Lane Graph Extraction from Single Onboard Camera Imagecited by 2
  17. 2023Separated RoadTopoFormercited by 1

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 1; 2024: 15; 2025: 29; 2026: 13.

58 papers.

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  1. 2024TopoLogic: An Interpretable Pipeline for Lane Topology Reasoning on Driving Scenescited by 29
  2. 2024Enhancing Vectorized Map Perception with Historical Rasterized Mapscited by 29
  3. 2024RoadPainter: Points Are Ideal Navigators for Topology transformERcited by 17
  4. 2025Chameleon: Fast-slow Neuro-symbolic Lane Topology Extractioncited by 16
  5. 2024DiffMap: Enhancing Map Segmentation with Map Prior Using Diffusion Modelcited by 13
  6. 2024PrevPredMap: Exploring Temporal Modeling with Previous Predictions for Online Vectorized HD Map Constructioncited by 12
  7. 2024TopoSD: Topology-Enhanced Lane Segment Perception with SDMap Priorcited by 12
  8. 2025SMART: Advancing Scalable Map Priors for Driving Topology Reasoningcited by 12
  9. 2025SeqGrowGraph: Learning Lane Topology as a Chain of Graph Expansionscited by 10
  10. 2024PriorMapNet: Enhancing Online Vectorized HD Map Construction with Priorscited by 9
  11. 2024PriorDrive: Enhancing Online HD Mapping with Unified Vector Priorscited by 9
  12. 2025SEPT: Standard-Definition Map Enhanced Scene Perception and Topology Reasoning for Autonomous Drivingcited by 9
38 more
  1. 2025TopoPoint: Enhance Topology Reasoning via Endpoint Detection in Autonomous Drivingcited by 9
  2. 2025Reusing Attention for One-stage Lane Topology Understandingcited by 9
  3. 2025HisTrackMap: Global Vectorized High-Definition Map Construction via History Map Trackingcited by 8
  4. 2025SDTagNet: Leveraging Text-Annotated Navigation Maps for Online HD Map Constructioncited by 8
  5. 2024TopoMaskV2: Enhanced Instance-Mask-Based Formulation for the Road Topology Problemcited by 7
  6. 2023Mind the map! Accounting for existing map information when estimating online HDMaps from sensorcited by 6
  7. 2025AugMapNet: Improving Spatial Latent Structure via BEV Grid Augmentation for Enhanced Vectorized Online HD Map Constructioncited by 6
  8. 2024Enhancing Lane Segment Perception and Topology Reasoning with Crowdsourcing Trajectory Priorscited by 5
  9. 2024TopoBDA: Towards Bezier Deformable Attention for Road Topology Understandingcited by 5
  10. 2025RTMap: Real-Time Recursive Mapping with Change Detection and Localizationcited by 5
  11. 2025LaneDiffusion: Improving Centerline Graph Learning via Prior Injected BEV Feature Generationcited by 5
  12. 2024MapVision: CVPR 2024 Autonomous Grand Challenge Mapless Driving Tech Reportcited by 4
  13. 2025Uni-PrevPredMap: Extending PrevPredMap to a Unified Framework of Prior-Informed Modeling for Online Vectorized HD Map Constructioncited by 4
  14. 2024ExelMap: Explainable Element-based HD-Map Change Detection and Updatecited by 3
  15. 2024M3TR: A Generalist Model for Real-World HD Map Completioncited by 3
  16. 2025MapGS: Generalizable Pretraining and Data Augmentation for Online Mapping via Novel View Synthesiscited by 3
  17. 2025Coherent Online Road Topology Estimation and Reasoning with Standard-Definition Mapscited by 3
  18. 2025RATopo: Improving Lane Topology Reasoning via Redundancy Assignmentcited by 3
  19. 2026SatMap: Revisiting Satellite Maps as Prior for Online HD Map Constructioncited by 3
  20. 2025SD++: Enhancing Standard Definition Maps by Incorporating Road Knowledge using LLMscited by 2
  21. 2025A Concise Survey on Lane Topology Reasoning for HD Mappingcited by 2
  22. 2025Using Language and Road Manuals to Inform Map Reconstruction for Autonomous Drivingcited by 2
  23. 2025RelMap: Enhancing Online Map Construction with Class-Aware Spatial Relation and Semantic Priorscited by 2
  24. 2025From Static to Dynamic: a Survey of Topology-Aware Perception in Autonomous Drivingcited by 2
  25. 2025NavMapFusion: Diffusion-based Fusion of Navigation Maps for Online Vectorized HD Map Constructioncited by 2
  26. 2026Bridging Structure and Language: Graph-Based Visual Reasoning for Autonomous Road Understandingcited by 2
  27. 2026D2HDMap: Non-visible Driveline Map Prior for Online Vectorized HD Map Predictioncited by 2
  28. 2024ImagineMap: Enhanced HD Map Construction with SD Mapscited by 1
  29. 2025Control Map Distribution using Map Query Bank for Online Map Generationcited by 1
  30. 2025SuperMapNet for Long-Range and High-Accuracy Vectorized HD Map Constructioncited by 1
  31. 2025Online Navigation Refinement: Achieving Lane-Level Guidance by Associating Standard-Definition and Online Perception Mapscited by 1
  32. 2025ArgoTweak: Towards Self-Updating HD Maps through Structured Priorscited by 1
  33. 2025SATMapTR: Satellite Image Enhanced Online HD Map Constructioncited by 1
  34. 2026TopoMaskV3: 3D Mask Head with Dense Offset and Height Predictions for Road Topology Understandingcited by 1
  35. 2026Impact of Localization Errors on Label Quality for Online HD Map Constructioncited by 1
  36. 2026GeoReFormer: Geometry-Aware Refinement for Lane Segment Detection and Topology Reasoningcited by 1
  37. 2026TopoHR: Hierarchical Centerline Representation for Cyclic Topology Reasoning in Driving Scenes with Point-to-Instance Relationscited by 1
  38. 2026Unified Map Prior Encoder for Mapping and Planningcited by 1

50 most cited of 58 All 58 (JSON)