Hongjae Shin, Jungho Kim, Donghyuk Kwak, Myeongjun Kim, Seunghoon Yu, Jiyong Oh, Jun Won Choi
原文摘要
Large-scale annotation of vectorized high-definition (HD) maps is labor-intensive and costly, motivating local-to-global auto-labeling approaches that incrementally construct global maps from local vectorized predictions. However, existing approaches often overlook prediction uncertainty and rely on heuristic map integration, potentially propagating errors and introducing topological inconsistencies. To address these limitations, we propose ReVMap, a reliable local-to-global framework that iteratively refines local map predictions and global map construction through uncertainty-guided prior utilization and connectivity-guided global map revision. Specifically, ReVMap leverages point-wise localization uncertainty to incorporate global map priors into local map prediction, improving robustness against inaccurate prior information. It then predicts local-to-global connectivity and selectively updates the global map through uncertainty-aware fusion based on the reliability of local predictions. By iteratively coupling local prediction and global revision, ReVMap progressively improves both local map accuracy and global map consistency. Extensive experiments on the nuScenes and Argoverse 2 benchmarks demonstrate that ReVMap achieves state-of-the-art performance in both local map prediction and global map construction.
Minsang Kong, Myeongjun Kim, Sang Gu Kang, Hejiu Lu, Yupeng Zhong, Sang Hun Lee
原文摘要
Trajectory prediction is a key task in autonomous driving, where a model must forecast plausible future motions of surrounding agents from dynamic histories and scene context. Many recent methods use high-definition (HD) maps to provide explicit road topology and semantic constraints, but such maps are costly to maintain, geographically limited, and difficult to update in changing environments. This paper presents Bird's-Eye View Trajectory Prediction (BEVTraj), a map-free trajectory prediction framework that directly uses BEV features constructed from raw multi-sensor data. Since sensor-derived BEV features are dense and only implicitly structured, BEVTraj employs deformable attention to selectively aggregate agent-relevant spatial context from sparse locations rather than processing the entire BEV grid uniformly. In addition, a Sparse Goal Candidate Proposal module combines overlapping mode-wise anchor clusters with attention-based goal prediction to generate compact, scene-adaptive goal hypotheses. These goals are decoded and iteratively refined into multimodal trajectories, while trajectory-aware mode scoring and temporal consistency modeling improve confidence estimation and suppress abrupt, physically implausible refinement updates. Experiments on nuScenes and Argoverse 2 Sensor show that BEVTraj achieves competitive results under a map-free setting without using pre-built HD maps, while ablation studies and qualitative analyses illustrate the roles of BEV context aggregation and sparse goal reasoning. The source code is available at https://github.com/Kongminsang/bevtraj.