# Polymap: generating high definition map based on rasterized polygons

arXiv: https://arxiv.org/abs/2511.05944 · HTML: https://mlsanity.com/paper/2511.05944/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 20 of its 22 references that are in the map.
- First posted on arXiv 8 Nov 2025.

## Builds on (most cited first, 20 of 20)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Masked-attention Mask Transformer for Universal Image Segmentation](https://mlsanity.com/paper/2112.01527/) (2021)
- [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)
- [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)
- [Spatial As Deep: Spatial CNN for Traffic Scene Understanding](https://mlsanity.com/paper/1712.06080/) (2017)
- [Cross-view Semantic Segmentation for Sensing Surroundings](https://mlsanity.com/paper/1906.03560/) (2019)
- [StreamMapNet: Streaming Mapping Network for Vectorized Online HD Map Construction](https://mlsanity.com/paper/2308.12570/) (2023)
- [Towards End-to-End Lane Detection: an Instance Segmentation Approach](https://mlsanity.com/paper/1802.05591/) (2018)
- [PivotNet: Vectorized Pivot Learning for End-to-end HD Map Construction](https://mlsanity.com/paper/2308.16477/) (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)
- [RESA: Recurrent Feature-Shift Aggregator for Lane Detection](https://mlsanity.com/paper/2008.13719/) (2020)
- [MapTracker: Tracking with Strided Memory Fusion for Consistent Vector HD Mapping](https://mlsanity.com/paper/2403.15951/) (2024)
- [Online Map Vectorization for Autonomous Driving: A Rasterization Perspective](https://mlsanity.com/paper/2306.10502/) (2023)
- [LaneNet: Real-Time Lane Detection Networks for Autonomous Driving](https://mlsanity.com/paper/1807.01726/) (2018)

## Abstract (arXiv)

The perception of high-definition maps is an integral component of environmental perception in autonomous driving systems. Existing research have often focused on online construction of high-definition maps. For instance, the Maptr[9] series employ a detection-based method to output vectorized map instances parallelly in an end-to-end manner. However, despite their capability for real-time construction, detection-based methods are observed to lack robust generalizability[19], which hampers their applicability in auto-labeling systems. Therefore, aiming to improve the generalizability, we reinterpret road elements as rasterized polygons and design a concise framework based on instance segmentation. Initially, a segmentation-based transformer is employed to deliver instance masks in an end-to-end manner; succeeding this step, a Potrace-based[17] post-processing module is used to ultimately yield vectorized map elements. Quantitative results attained on the Nuscene[1] dataset substantiate the effectiveness and generaliz-ability of our method.