# DuMapNet: An End-to-End Vectorization System for City-Scale Lane-Level Map Generation

arXiv: https://arxiv.org/abs/2406.14255 · HTML: https://mlsanity.com/paper/2406.14255/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 35 references that are in the map.
- First posted on arXiv 20 Jun 2024.

## Builds on (most cited first, 21 of 21)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Deep High-Resolution Representation Learning for Visual Recognition](https://mlsanity.com/paper/1908.07919/) (2019)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View](https://mlsanity.com/paper/2112.11790/) (2021)
- [FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Cameras](https://mlsanity.com/paper/2104.10490/) (2021)
- [Hierarchical Multi-Scale Attention for Semantic Segmentation](https://mlsanity.com/paper/2005.10821/) (2020)
- [Cross-view Semantic Segmentation for Sensing Surroundings](https://mlsanity.com/paper/1906.03560/) (2019)
- [PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmark](https://mlsanity.com/paper/2203.11089/) (2022)
- [Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection](https://mlsanity.com/paper/2010.12035/) (2020)
- [BEVSegFormer: Bird's Eye View Semantic Segmentation From Arbitrary Camera Rigs](https://mlsanity.com/paper/2203.04050/) (2022)
- [CondLaneNet: a Top-to-down Lane Detection Framework Based on Conditional Convolution](https://mlsanity.com/paper/2105.05003/) (2021)
- [Rethinking Efficient Lane Detection via Curve Modeling](https://mlsanity.com/paper/2203.02431/) (2022)
- [End-to-End Vectorized HD-map Construction with Piecewise Bezier Curve](https://mlsanity.com/paper/2306.09700/) (2023)
- [Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments](https://mlsanity.com/paper/2109.13494/) (2021)
- [A Keypoint-based Global Association Network for Lane Detection](https://mlsanity.com/paper/2204.07335/) (2022)
- [Online Map Vectorization for Autonomous Driving: A Rasterization Perspective](https://mlsanity.com/paper/2306.10502/) (2023)
- [Online Vectorized HD Map Construction using Geometry](https://mlsanity.com/paper/2312.03341/) (2023)
- [A Geometric Approach to Obtain a Bird's Eye View from an Image](https://mlsanity.com/paper/1905.02231/) (2019)
- [MachMap: End-to-End Vectorized Solution for Compact HD-Map Construction](https://mlsanity.com/paper/2306.10301/) (2023)
- [DuETA: Traffic Congestion Propagation Pattern Modeling via Efficient Graph Learning for ETA Prediction at Baidu Maps](https://mlsanity.com/paper/2208.06979/) (2022)
- [The 1st-place Solution for CVPR 2023 OpenLane Topology in Autonomous Driving Challenge](https://mlsanity.com/paper/2306.09590/) (2023)

## Built on by (most cited first, 7 of 7)

- [LDMapNet-U: An End-to-End System for City-Scale Lane-Level Map Updating](https://mlsanity.com/paper/2501.02763/) (2025)
- [LaneDiffusion: Improving Centerline Graph Learning via Prior Injected BEV Feature Generation](https://mlsanity.com/paper/2511.06272/) (2025)
- [PseudoMapTrainer: Learning Online Mapping without HD Maps](https://mlsanity.com/paper/2508.18788/) (2025)
- [OptiMVMap: Offline Vectorized Map Construction via Optimal Multi-vehicle Perspectives](https://mlsanity.com/paper/2604.17135/) (2026)
- [MapAgent: An Industrial-Grade Agentic Framework for City-scale Lane-level Map Generation](https://mlsanity.com/paper/2606.04513/) (2026)
- [MagicRoad: Semantic-Aware 3D Road Surface Reconstruction via Obstacle Inpainting](https://mlsanity.com/paper/2507.23340/) (2025)
- [RoadSceneBench: A Lightweight Benchmark for Mid-Level Road Scene Understanding](https://mlsanity.com/paper/2511.22466/) (2025)

## Abstract (arXiv)

Generating city-scale lane-level maps faces significant challenges due to the intricate urban environments, such as blurred or absent lane markings. Additionally, a standard lane-level map requires a comprehensive organization of lane groupings, encompassing lane direction, style, boundary, and topology, yet has not been thoroughly examined in prior research. These obstacles result in labor-intensive human annotation and high maintenance costs. This paper overcomes these limitations and presents an industrial-grade solution named DuMapNet that outputs standardized, vectorized map elements and their topology in an end-to-end paradigm. To this end, we propose a group-wise lane prediction (GLP) system that outputs vectorized results of lane groups by meticulously tailoring a transformer-based network. Meanwhile, to enhance generalization in challenging scenarios, such as road wear and occlusions, as well as to improve global consistency, a contextual prompts encoder (CPE) module is proposed, which leverages the predicted results of spatial neighborhoods as contextual information. Extensive experiments conducted on large-scale real-world datasets demonstrate the superiority and effectiveness of DuMapNet. Additionally, DuMap-Net has already been deployed in production at Baidu Maps since June 2023, supporting lane-level map generation tasks for over 360 cities while bringing a 95% reduction in costs. This demonstrates that DuMapNet serves as a practical and cost-effective industrial solution for city-scale lane-level map generation.