Uni-PrevPredMap: Extending PrevPredMap to a Unified Framework of Prior-Informed Modeling for Online Vectorized HD Map Construction

원문 초록

Safety constitutes a foundational imperative for autonomous driving systems, necessitating the maximal incorporation of accessible external prior information. This study establishes that temporal perception buffers and cost-efficient maps inherently form complementary prior sources for online vectorized high-definition (HD) map construction. We present Uni-PrevPredMap, a unified prior-informed framework that systematically integrates two synergistic information sources: previous predictions and simulated outdated HD maps. The framework introduces two core innovations: a tile-indexed 3D vectorized global map processor enabling efficient refreshment, storage, and retrieval of 3D vectorized priors; a tri-mode operational optimization paradigm ensuring consistency across non-prior, temporal-prior, and temporal-map-fusion-prior scenarios while mitigating reliance on idealized map fidelity assumptions. Uni-PrevPredMap achieves state-of-the-art performance in map-absent scenarios across established online vectorized HD map construction benchmarks. When provided with simulated outdated HD maps, the framework exhibits robust capabilities in error-resilient prior fusion, empirically confirming the synergistic complementarity between previous predictions and simulated outdated HD maps. Code will be available at https://github.com/pnnnnnnn/Uni-PrevPredMap.