作者
Tianyuan Yuan, Yicheng Liu, Yue Wang, Yilun Wang, Hang Zhao
发表日期
2024
研讨会论文
Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision
页码范围
7356-7365
简介
High-Definition (HD) maps are essential for the safety of autonomous driving systems. While existing techniques employ camera images and onboard sensors to generate vectorized high-precision maps, they are constrained by their reliance on single-frame input. This approach limits their stability and performance in complex scenarios such as occlusions, largely due to the absence of temporal information. Moreover, their performance diminishes when applied to broader perception ranges. In this paper, we present StreamMapNet, a novel online mapping pipeline adept at long-sequence temporal modeling of videos. StreamMapNet employs multi-point attention and temporal information which empowers the construction of large-range local HD maps with high stability and further addresses the limitations of existing methods. Furthermore, we critically examine widely used online HD Map construction benchmark and datasets, Argoverse2 and nuScenes, revealing significant bias in the existing evaluation protocols. We propose to resplit the benchmarks according to geographical spans, promoting fair and precise evaluations. Experimental results validate that StreamMapNet significantly outperforms existing methods across all settings while maintaining an online inference speed of 14.2 FPS. Our code is available at https://github. com/yuantianyuan01/StreamMapNet.
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T Yuan, Y Liu, Y Wang, Y Wang, H Zhao - Proceedings of the IEEE/CVF Winter Conference on …, 2024