HisTrackMap: Global Vectorized High-Definition Map Construction via History Map Tracking

Abstract

As an essential component of autonomous driving systems, high-definition (HD) maps provide rich and precise environmental information for auto-driving scenarios; however, existing methods, which primarily rely on query-based detection frameworks to directly model map elements or implicitly propagate queries over time, often struggle to maintain consistent temporal perception outcomes. These inconsistencies pose significant challenges to the stability and reliability of real-world autonomous driving and map data collection systems.

To address this limitation, we propose a novel end-to-end tracking framework for global map construction by temporally tracking map elements' historical trajectories.

Firstly, instance-level historical rasterization map representation is designed to explicitly store previous perception results, which can control and maintain different global instances' history information in a fine-grained way. Secondly, we introduce a Map-Trajectory Prior Fusion module within this tracking framework, leveraging historical priors for tracked instances to improve temporal smoothness and continuity. Thirdly, we propose a global perspective metric to evaluate the quality of temporal geometry construction in HD maps, filling the gap in current metrics for assessing global geometric perception results. Substantial experiments on the nuScenes and Argoverse2 datasets demonstrate that the proposed method outperforms state-of-the-art (SOTA) methods in both single-frame and temporal metrics.

FrameWork

Initialization at timestamp 0 and tracking at T and T+1 are illustrated. Track queries associate map elements and construct temporal relationships through the history maps under the tracking paradigm.

Map-Trajectory Prior Fusion

The Map-Trajectory Prior Fusion is designed to integrate historical map trajectory information into track queries, enhancing temporal prior utilization and perceptual consistency.

Example reconstruction results

Comparisons with baselines

BibTeX

@misc{yang2025histrackmapglobalvectorizedhighdefinition,
      title={HisTrackMap: Global Vectorized High-Definition Map Construction via History Map Tracking}, 
      author={Jing Yang and Sen Yang and Xiao Tan and Hanli Wang},
      year={2025},
      eprint={2503.07168},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2503.07168}, 
}