EAN-MapNet: Efficient Vectorized HD Map Construction with Anchor Neighborhoods

arXiv:2402.18278v1 Announce Type: new
Abstract: High-definition (HD) map is crucial for autonomous driving systems. Most existing works design map elements detection heads based on the DETR decoder. However, the initial queries lack integration with the physical location feature of map elements, and vanilla self-attention entails high computational complexity. Therefore, we propose EAN-MapNet for Efficiently constructing HD map using Anchor Neighborhoods. Firstly, we design query units based on the physical location feature of anchor neighborhoods. Non-neighborhood central anchors effectively assist the …

abstract anchor arxiv attention autonomous autonomous driving autonomous driving systems complexity computational construction cs.cv decoder definition design detection detr driving feature integration location map queries self-attention systems type