MapRF reaches about 75% of fully supervised HD map accuracy on Argoverse 2 and nuScenes by generating view-consistent pseudo labels via a NeRF conditioned on map predictions and refining them with Map-to-Ray Matching in self-training.
Lego-loam: Lightweight and ground-optimized lidar odometry and mapping on variable terrain,
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MapRF: Weakly Supervised Online HD Map Construction via NeRF-Guided Self-Training
MapRF reaches about 75% of fully supervised HD map accuracy on Argoverse 2 and nuScenes by generating view-consistent pseudo labels via a NeRF conditioned on map predictions and refining them with Map-to-Ray Matching in self-training.