mlsanityData to 14 Oct 2026

Leveraging V2X for Collaborative HD Maps Construction Using Scene Graph Generation

arXiv 2502.10127 ↗First posted 14 Feb 2025cs.CVcited by 0

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Abstract (arXiv)

High-Definition (HD) maps play a crucial role in autonomous vehicle navigation, complementing onboard perception sensors for improved accuracy and safety. Traditional HD map generation relies on dedicated mapping vehicles, which are costly and fail to capture real-time infrastructure changes. This paper presents HDMapLaneNet, a novel framework leveraging V2X communication and Scene Graph Generation to collaboratively construct a localized geometric layer of HD maps. The approach extracts lane centerlines from front-facing camera images, represents them as graphs, and transmits the data for global aggregation to the cloud via V2X. Preliminary results on the nuScenes dataset demonstrate superior association prediction performance compared to a state-of-the-art method.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 25 of its 34 references that are in the map. First posted on arXiv 14 Feb 2025.

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25 of 34 references.

References · 25

  1. 2020End-to-End Object Detection with Transformerscited by 7,414
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  3. 2016The Cityscapes Dataset for Semantic Urban Scene Understandingcited by 4,444
  4. 2018Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentationcited by 3,223
  5. 2017Rethinking Atrous Convolution for Semantic Image Segmentationcited by 2,161
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  7. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,218
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  9. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 850
  10. 2022MapTR: Structured Modeling and Learning for Online Vectorized HD Map Constructioncited by 314
  11. 2021HDMapNet: An Online HD Map Construction and Evaluation Frameworkcited by 281
  12. 2022VectorMapNet: End-to-end Vectorized HD Map Learningcited by 245
13 more
  1. 2023MapTRv2: An End-to-End Framework for Online Vectorized HD Map Constructioncited by 193
  2. 2022BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Drivingcited by 191
  3. 2023StreamMapNet: Streaming Mapping Network for Vectorized Online HD Map Constructioncited by 145
  4. 2022Vision-Centric BEV Perception: A Surveycited by 126
  5. 2021Structured Bird's-Eye-View Traffic Scene Understanding from Onboard Imagescited by 98
  6. 2023PivotNet: Vectorized Pivot Learning for End-to-end HD Map Constructioncited by 85
  7. 2023End-to-End Vectorized HD-map Construction with Piecewise Bezier Curvecited by 82
  8. 2023Online Map Vectorization for Autonomous Driving: A Rasterization Perspectivecited by 54
  9. 2024Leveraging Enhanced Queries of Point Sets for Vectorized Map Constructioncited by 46
  10. 2023InstaGraM: Instance-level Graph Modeling for Vectorized HD Map Learningcited by 40
  11. 2022UniFusion: Unified Multi-view Fusion Transformer for Spatial-Temporal Representation in Bird's-Eye-Viewcited by 25
  12. 2024RoboCar: A Rapidly Deployable Open-Source Platform for Autonomous Driving Researchcited by 6
  13. 2024EAN-MapNet: Efficient Vectorized HD Map Construction with Anchor Neighborhoodscited by 4

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