# Enhancing Vectorized Map Perception with Historical Rasterized Maps

arXiv: https://arxiv.org/abs/2409.00620 · HTML: https://mlsanity.com/paper/2409.00620/

## Key facts

- Cited by 29 papers in the map (data through 14 Oct 2026).
- Builds on 42 of its 52 references that are in the map.
- First posted on arXiv 1 Sep 2024.

## Builds on (most cited first, 30 of 42)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [PETR: Position Embedding Transformation for Multi-View 3D Object Detection](https://mlsanity.com/paper/2203.05625/) (2022)
- [VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representation](https://mlsanity.com/paper/2005.04259/) (2020)
- [Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detection](https://mlsanity.com/paper/2303.11926/) (2023)
- [MapTR: Structured Modeling and Learning for Online Vectorized HD Map Construction](https://mlsanity.com/paper/2208.14437/) (2022)
- [HDMapNet: An Online HD Map Construction and Evaluation Framework](https://mlsanity.com/paper/2107.06307/) (2021)
- [Cross-view Transformers for real-time Map-view Semantic Segmentation](https://mlsanity.com/paper/2205.02833/) (2022)
- [VectorMapNet: End-to-end Vectorized HD Map Learning](https://mlsanity.com/paper/2206.08920/) (2022)
- [MapTRv2: An End-to-End Framework for Online Vectorized HD Map Construction](https://mlsanity.com/paper/2308.05736/) (2023)
- [Predicting Semantic Map Representations from Images using Pyramid Occupancy Networks](https://mlsanity.com/paper/2003.13402/) (2020)
- [DETRs with Hybrid Matching](https://mlsanity.com/paper/2207.13080/) (2022)
- [StreamMapNet: Streaming Mapping Network for Vectorized Online HD Map Construction](https://mlsanity.com/paper/2308.12570/) (2023)
- [Structured Bird's-Eye-View Traffic Scene Understanding from Onboard Images](https://mlsanity.com/paper/2110.01997/) (2021)
- [FB-BEV: BEV Representation from Forward-Backward View Transformations](https://mlsanity.com/paper/2308.02236/) (2023)
- [Rethinking Efficient Lane Detection via Curve Modeling](https://mlsanity.com/paper/2203.02431/) (2022)
- [PivotNet: Vectorized Pivot Learning for End-to-end HD Map Construction](https://mlsanity.com/paper/2308.16477/) (2023)
- [OpenLane-V2: A Topology Reasoning Benchmark for Unified 3D HD Mapping](https://mlsanity.com/paper/2304.10440/) (2023)
- [End-to-End Vectorized HD-map Construction with Piecewise Bezier Curve](https://mlsanity.com/paper/2306.09700/) (2023)
- [Efficient and Robust 2D-to-BEV Representation Learning via Geometry-guided Kernel Transformer](https://mlsanity.com/paper/2206.04584/) (2022)
- [BEVPoolv2: A Cutting-edge Implementation of BEVDet Toward Deployment](https://mlsanity.com/paper/2211.17111/) (2022)
- [Neural Map Prior for Autonomous Driving](https://mlsanity.com/paper/2304.08481/) (2023)
- [Augmenting Lane Perception and Topology Understanding with Standard Definition Navigation Maps](https://mlsanity.com/paper/2311.04079/) (2023)
- [LaneSegNet: Map Learning with Lane Segment Perception for Autonomous Driving](https://mlsanity.com/paper/2312.16108/) (2023)
- [Online Map Vectorization for Autonomous Driving: A Rasterization Perspective](https://mlsanity.com/paper/2306.10502/) (2023)

## Built on by (most cited first, 29 of 29)

- [SafeMap: Robust HD Map Construction from Incomplete Observations](https://mlsanity.com/paper/2507.00861/) (2025)
- [GlobalMapNet: An Online Framework for Vectorized Global HD Map Construction](https://mlsanity.com/paper/2409.10063/) (2024)
- [PriorDrive: Enhancing Online HD Mapping with Unified Vector Priors](https://mlsanity.com/paper/2409.05352/) (2024)
- [HisTrackMap: Global Vectorized High-Definition Map Construction via History Map Tracking](https://mlsanity.com/paper/2503.07168/) (2025)
- [SDTagNet: Leveraging Text-Annotated Navigation Maps for Online HD Map Construction](https://mlsanity.com/paper/2506.08997/) (2025)
- [Stability Under Scrutiny: Benchmarking Representation Paradigms for Online HD Mapping](https://mlsanity.com/paper/2510.10660/) (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)
- [Uni-PrevPredMap: Extending PrevPredMap to a Unified Framework of Prior-Informed Modeling for Online Vectorized HD Map Construction](https://mlsanity.com/paper/2504.06647/) (2025)
- [SparseMeXT Unlocking the Potential of Sparse Representations for HD Map Construction](https://mlsanity.com/paper/2505.08808/) (2025)
- [FastMap: Fast Queries Initialization Based Vectorized HD Map Reconstruction Framework](https://mlsanity.com/paper/2503.05492/) (2025)
- [Uncertainty-Instructed Structure Injection for Generalizable HD Map Construction](https://mlsanity.com/paper/2503.23109/) (2025)
- [MapFM: Foundation Model-Driven HD Mapping with Multi-Task Contextual Learning](https://mlsanity.com/paper/2506.15313/) (2025)
- [From Static to Dynamic: a Survey of Topology-Aware Perception in Autonomous Driving](https://mlsanity.com/paper/2509.23641/) (2025)
- [All You Need for Object Detection: From Pixels, Points, and Prompts to Next-Gen Fusion and Multimodal LLMs/VLMs in Autonomous Vehicles](https://mlsanity.com/paper/2510.26641/) (2025)
- [AMap: Distilling Future Priors for Ahead-Aware Online HD Map Construction](https://mlsanity.com/paper/2512.19150/) (2025)
- [D2HDMap: Non-visible Driveline Map Prior for Online Vectorized HD Map Prediction](https://mlsanity.com/paper/2606.20725/) (2026)
- [Control Map Distribution using Map Query Bank for Online Map Generation](https://mlsanity.com/paper/2504.03868/) (2025)
- [ArgoTweak: Towards Self-Updating HD Maps through Structured Priors](https://mlsanity.com/paper/2509.08764/) (2025)
- [SATMapTR: Satellite Image Enhanced Online HD Map Construction](https://mlsanity.com/paper/2512.11319/) (2025)
- [OptiMVMap: Offline Vectorized Map Construction via Optimal Multi-vehicle Perspectives](https://mlsanity.com/paper/2604.17135/) (2026)
- [The Road Ahead in Autonomous Driving: The KITScenes Multimodal Dataset](https://mlsanity.com/paper/2606.02956/) (2026)
- [GContextFormer: A global context-aware hybrid multi-head attention approach with scaled additive aggregation for multimodal trajectory prediction](https://mlsanity.com/paper/2511.18874/) (2025)
- [CSMapping: Scalable Crowdsourced Semantic Mapping and Topology Inference for Autonomous Driving](https://mlsanity.com/paper/2512.03510/) (2025)
- [PredMapNet: Future and Historical Reasoning for Consistent Online HD Vectorized Map Construction](https://mlsanity.com/paper/2602.16669/) (2026)
- [MapGCLR: Geospatial Contrastive Learning of Representations for Online Vectorized HD Map Construction](https://mlsanity.com/paper/2603.10688/) (2026)
- [Creating Impactful Autonomous Driving Datasets: A Strategic Guide from Research Gap to Benchmark](https://mlsanity.com/paper/2607.00710/) (2026)
- [Driver2Map: Imitating Human Driving for Online High-Definition Map Construction](https://mlsanity.com/paper/2608.01338/) (2026)
- [PseudoMapLabeler: Confidence-Aware Pseudo-Label Generation for Semi-Supervised Online Mapping](https://mlsanity.com/paper/2608.12600/) (2026)

## Abstract (arXiv)

In autonomous driving, there is growing interest in end-to-end online vectorized map perception in bird's-eye-view (BEV) space, with an expectation that it could replace traditional high-cost offline high-definition (HD) maps. However, the accuracy and robustness of these methods can be easily compromised in challenging conditions, such as occlusion or adverse weather, when relying only on onboard sensors. In this paper, we propose HRMapNet, leveraging a low-cost Historical Rasterized Map to enhance online vectorized map perception. The historical rasterized map can be easily constructed from past predicted vectorized results and provides valuable complementary information. To fully exploit a historical map, we propose two novel modules to enhance BEV features and map element queries. For BEV features, we employ a feature aggregation module to encode features from both onboard images and the historical map. For map element queries, we design a query initialization module to endow queries with priors from the historical map. The two modules contribute to leveraging map information in online perception. Our HRMapNet can be integrated with most online vectorized map perception methods. We integrate it in two state-of-the-art methods, significantly improving their performance on both the nuScenes and Argoverse 2 datasets. The source code is released at https://github.com/HXMap/HRMapNet.