MGMap: Mask-Guided Learning for Online Vectorized HD Map Construction
| Autor: | Liu, Xiaolu, Wang, Song, Li, Wentong, Yang, Ruizi, Chen, Junbo, Zhu, Jianke |
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| Rok vydání: | 2024 |
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| Druh dokumentu: | Working Paper |
| Popis: | Currently, high-definition (HD) map construction leans towards a lightweight online generation tendency, which aims to preserve timely and reliable road scene information. However, map elements contain strong shape priors. Subtle and sparse annotations make current detection-based frameworks ambiguous in locating relevant feature scopes and cause the loss of detailed structures in prediction. To alleviate these problems, we propose MGMap, a mask-guided approach that effectively highlights the informative regions and achieves precise map element localization by introducing the learned masks. Specifically, MGMap employs learned masks based on the enhanced multi-scale BEV features from two perspectives. At the instance level, we propose the Mask-activated instance (MAI) decoder, which incorporates global instance and structural information into instance queries by the activation of instance masks. At the point level, a novel position-guided mask patch refinement (PG-MPR) module is designed to refine point locations from a finer-grained perspective, enabling the extraction of point-specific patch information. Compared to the baselines, our proposed MGMap achieves a notable improvement of around 10 mAP for different input modalities. Extensive experiments also demonstrate that our approach showcases strong robustness and generalization capabilities. Our code can be found at https://github.com/xiaolul2/MGMap. Comment: 18 pages, 11 figures, accepted by CVPR 2024 |
| Databáze: | arXiv |
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