ReVMap: Vectorized Global Mapping via Connectivity-Aware Local Map Fusion

원문 초록

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.