TileTracker: Tracking Based Vector HD Mapping using Top-Down Road Images

TL;DR

This paper introduces TileTracker, a novel HD mapping method using top-down road images, modifying BEVFormer layers to generate accurate maps, and demonstrating effective performance with both color and intensity images.

Contribution

It presents a new tracking-based HD mapping algorithm utilizing tile images and modified BEVFormer layers, opening a new direction in HD mapping research.

Findings

Effective generation of divider and boundary lines from tile images.

Demonstrated performance with both color and intensity images.

Quantitative and qualitative validation of the method.

Abstract

In this paper, we propose a tracking-based HD mapping algorithm for top-down road images, referred to as tile images. While HD maps traditionally rely on perspective camera images, our approach shows that tile images can also be effectively utilized, offering valuable contributions to this research area as it can be start of a new path in HD mapping algorithms. We modified the BEVFormer layers to generate BEV masks from tile images, which are then used by the model to generate divider and boundary lines. Our model was tested with both color and intensity images, and we present quantitative and qualitative results to demonstrate its performance.