A teacher-coach-student distillation framework transfers lidar and map-prior knowledge into a camera-only HD map model, improving nuScenes mIoU by 6.68 and mAP by 10.94 over the student baseline.
arXiv preprint arXiv:2409.11018
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MapKD: Unlocking Prior Knowledge with Cross-Modal Distillation for Efficient Online HD Map Construction
A teacher-coach-student distillation framework transfers lidar and map-prior knowledge into a camera-only HD map model, improving nuScenes mIoU by 6.68 and mAP by 10.94 over the student baseline.