用俯视图图像实现高精地图追踪，突破传统视角限制。
TileTracker: Tracking Based Vector HD Mapping using Top-Down Road Images
- 基于俯视图图像设计追踪式高精地图算法
- 在彩色与强度图像上均实现边界线精准生成
- 为高精地图新路径提供可扩展的视觉解决方案
本文提出一种基于追踪的高精地图构建算法，利用俯视道路图像（即瓦片图像，tile images）进行建图。尽管传统高精地图依赖透视相机图像，本方法证明俯视图同样可有效应用，为该领域开辟新方向。我们改进BEVFormer结构，从瓦片图像生成鸟瞰图（BEV）掩码，并据此输出车道分隔线与边界线。模型在彩色与强度图像上进行了测试，通过定量与定性结果验证了其性能。
原文摘要 · Abstract (English)
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.
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