arXiv:2603.19852cs.CVcs.AI2026-03中稿 · CVPR

提出新方法识别并量化深度学习地图模型的失效模式,提升自动驾驶泛化能力。

Failure Modes for Deep Learning-Based Online Mapping: How to Measure and Address Them

  • 分离记忆输入特征与过拟合地图几何两种失效机制
  • 在nuScenes和Argoverse 2上验证,几何多样性数据集性能提升
  • 引入最小生成树策略优化训练集平衡性,减少冗余

基于深度学习的在线地图构建已成为自动驾驶核心,但模型常难以泛化至陌生环境。本文提出框架,通过解耦输入特征记忆与已知地图几何过拟合两类失效机制,设计基于子集评估的度量方法,控制地理邻近性与几何相似性。引入基于Fréchet距离的重建统计量,无需阈值调优即可捕捉元素级形状保真度;定义定位过拟合分数(地理线索消失时性能下降)与地图几何过拟合分数(场景几何新颖性增加时退化程度)。分析数据集偏差,提出最小生成树(MST)多样性度量与对称覆盖度量以量化训练集与划分间的几何相似性。基于此,设计MST稀疏化策略,在缩减训练规模的同时提升数据平衡性与性能。在nuScenes和Argoverse 2上多模型实验表明,几何多样性且均衡的训练集能显著改善泛化表现。研究推动了面向失效模式感知的评估协议与以地图几何为中心的数据集设计。

原文摘要 · Abstract (English)

Deep learning-based online mapping has emerged as a cornerstone of autonomous driving, yet these models frequently fail to generalize beyond familiar environments. We propose a framework to identify and measure the underlying failure modes by disentangling two effects: Memorization of input features and overfitting to known map geometries. We propose measures based on evaluation subsets that control for geographical proximity and geometric similarity between training and validation scenes. We introduce Fréchet distance-based reconstruction statistics that capture per-element shape fidelity without threshold tuning, and define complementary failure-mode scores: a localization overfitting score quantifying the performance drop when geographic cues disappear, and a map geometry overfitting score measuring degradation as scenes become geometrically novel. Beyond models, we analyze dataset biases and contribute map geometry-aware diagnostics: A minimum-spanning-tree (MST) diversity measure for training sets and a symmetric coverage measure to quantify geometric similarity between splits. Leveraging these, we formulate an MST-based sparsification strategy that reduces redundancy and improves balancing and performance while shrinking training size. Experiments on nuScenes and Argoverse 2 across multiple state-of-the-art models yield more trustworthy assessment of generalization and show that map geometry-diverse and balanced training sets lead to improved performance. Our results motivate failure-mode-aware protocols and map geometry-centric dataset design for deployable online mapping.

在线地图失效分析数据集设计自动驾驶

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