mlsanityData to 14 Oct 2026

LGmap: Local-to-Global Mapping Network for Online Long-Range Vectorized HD Map Construction

arXiv 2406.13988 ↗First posted 20 Jun 2024cs.CVcited by 4

Not on the map. Why?

Abstract (arXiv)

This report introduces the first-place winning solution for the Autonomous Grand Challenge 2024 - Mapless Driving. In this report, we introduce a novel online mapping pipeline LGmap, which adept at long-range temporal model. Firstly, we propose symmetric view transformation(SVT), a hybrid view transformation module. Our approach overcomes the limitations of forward sparse feature representation and utilizing depth perception and SD prior information. Secondly, we propose hierarchical temporal fusion(HTF) module. It employs temporal information from local to global, which empowers the construction of long-range HD map with high stability. Lastly, we propose a novel ped-crossing resampling. The simplified ped crossing representation accelerates the instance attention based decoder convergence performance. Our method achieves 0.66 UniScore in the Mapless Driving OpenLaneV2 test set.

Key facts. Cited by 4 papers in the map (data through 14 Oct 2026). Builds on 14 of its 16 references that are in the map. First posted on arXiv 20 Jun 2024.

Builds on

14 of 16 references.

References · 14

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2014Empirical Evaluation of Gated Recurrent Neural Networks on Sequence Modelingcited by 2,367
  3. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,218
  4. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,044
  5. 2022InternImage: Exploring Large-Scale Vision Foundation Models with Deformable Convolutionscited by 482
  6. 2024YOLOv9: Learning What You Want to Learn Using Programmable Gradient Informationcited by 425
  7. 2023EVA-02: A Visual Representation for Neon Genesiscited by 381
  8. 2022MapTR: Structured Modeling and Learning for Online Vectorized HD Map Constructioncited by 314
  9. 2023MapTRv2: An End-to-End Framework for Online Vectorized HD Map Constructioncited by 193
  10. 2023StreamMapNet: Streaming Mapping Network for Vectorized Online HD Map Constructioncited by 145
  11. 2023OpenLane-V2: A Topology Reasoning Benchmark for Unified 3D HD Mappingcited by 83
  12. 2023Online Vectorized HD Map Construction using Geometrycited by 42
2 more
  1. 2023TopoMLP: A Simple yet Strong Pipeline for Driving Topology Reasoningcited by 41
  2. 2023MachMap: End-to-End Vectorized Solution for Compact HD-Map Constructioncited by 17

Built on by

Cited by year

Citing papers per year: 2024: 1; 2025: 3.

4 papers.

  1. 2024PrevPredMap: Exploring Temporal Modeling with Previous Predictions for Online Vectorized HD Map Constructioncited by 12
  2. 2025FastMap: Fast Queries Initialization Based Vectorized HD Map Reconstruction Frameworkcited by 3
  3. 2025Coherent Online Road Topology Estimation and Reasoning with Standard-Definition Mapscited by 3
  4. 2025NavMapFusion: Diffusion-based Fusion of Navigation Maps for Online Vectorized HD Map Constructioncited by 2