UMPE fuses any subset of HD/SD vector maps, raster SD maps, and satellite imagery into BEV features via alignment-aware vector and raster branches, raising mapping mAP by 5.3-5.9 points and cutting planning L2 error by 0.30 m on nuScenes.
Sdtagnet: Leveraging text-annotated navigation maps for online hd map construction
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Unified Map Prior Encoder for Mapping and Planning
UMPE fuses any subset of HD/SD vector maps, raster SD maps, and satellite imagery into BEV features via alignment-aware vector and raster branches, raising mapping mAP by 5.3-5.9 points and cutting planning L2 error by 0.30 m on nuScenes.