# Driver2Map: Imitating Human Driving for Online High-Definition Map Construction

arXiv: https://arxiv.org/abs/2608.01338 · HTML: https://mlsanity.com/paper/2608.01338/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 30 of its 45 references that are in the map.
- First posted on arXiv 2 Aug 2026.

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

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks](https://mlsanity.com/paper/1905.11946/) (2019)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regression](https://mlsanity.com/paper/1902.09630/) (2019)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View](https://mlsanity.com/paper/2112.11790/) (2021)
- [BEVFusion: A Simple and Robust LiDAR-Camera Fusion Framework](https://mlsanity.com/paper/2205.13790/) (2022)
- [MapTR: Structured Modeling and Learning for Online Vectorized HD Map Construction](https://mlsanity.com/paper/2208.14437/) (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)
- [LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping](https://mlsanity.com/paper/2007.00258/) (2020)
- [SparseBEV: High-Performance Sparse 3D Object Detection from Multi-Camera Videos](https://mlsanity.com/paper/2308.09244/) (2023)
- [StreamMapNet: Streaming Mapping Network for Vectorized Online HD Map Construction](https://mlsanity.com/paper/2308.12570/) (2023)
- [PivotNet: Vectorized Pivot Learning for End-to-end HD Map Construction](https://mlsanity.com/paper/2308.16477/) (2023)
- [Using satellite imagery to understand and promote sustainable development](https://mlsanity.com/paper/2010.06988/) (2020)
- [P-MapNet: Far-seeing Map Generator Enhanced by both SDMap and HDMap Priors](https://mlsanity.com/paper/2403.10521/) (2024)
- [SuperFusion: Multilevel LiDAR-Camera Fusion for Long-Range HD Map Generation](https://mlsanity.com/paper/2211.15656/) (2022)
- [Enhancing Vectorized Map Perception with Historical Rasterized Maps](https://mlsanity.com/paper/2409.00620/) (2024)
- [Complementing Onboard Sensors with Satellite Map: A New Perspective for HD Map Construction](https://mlsanity.com/paper/2308.15427/) (2023)
- [UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes](https://mlsanity.com/paper/1912.09513/) (2019)
- [TopoSD: Topology-Enhanced Lane Segment Perception with SDMap Prior](https://mlsanity.com/paper/2411.14751/) (2024)
- [Towards Satellite Image Road Graph Extraction: A Global-Scale Dataset and A Novel Method](https://mlsanity.com/paper/2411.16733/) (2024)
- [SDTagNet: Leveraging Text-Annotated Navigation Maps for Online HD Map Construction](https://mlsanity.com/paper/2506.08997/) (2025)
- [DAMap: Distance-aware MapNet for High Quality HD Map Construction](https://mlsanity.com/paper/2510.22675/) (2025)
- [FastMap: Fast Queries Initialization Based Vectorized HD Map Reconstruction Framework](https://mlsanity.com/paper/2503.05492/) (2025)
- [SatMap: Revisiting Satellite Maps as Prior for Online HD Map Construction](https://mlsanity.com/paper/2601.10512/) (2026)
- [SATMapTR: Satellite Image Enhanced Online HD Map Construction](https://mlsanity.com/paper/2512.11319/) (2025)

## Abstract (arXiv)

High-definition (HD) maps are essential for autonomous driving systems. In constructing such maps, onboard multi-view camera images, standard-definition maps and satellite images provide crucial information. However, due to the modality and perspective differences among these data sources, existing methods often struggle to effectively align and fuse them, making online HD map construction still challenging. To address these issues, we propose Driver2Map, an online HD map construction model inspired by human drivers. Unlike existing HD map construction models that utilize only two modalities, our Driver2Map can simultaneously exploit three modalities. Specifically, we propose a "two-stage alignment" strategy to reduce spatial misalignment across different modalities. Additionally, we introduce "Pose-Guided BEV Fusion", a BEV (bird's-eye-view) generation module that leverages camera pose information to adaptively weight multi-view features, thereby effectively suppressing cross-view feature overlap during BEV generation. Also, we design a "Pretrained Prior for Map Refinement" module to refine the initial prediction by learning map structure priors, thus improving the HD map prediction under dynamic occlusions. Extensive experiments demonstrate that Driver2Map outperforms existing methods on both IoU and AP metrics.