Unified Map Prior Encoder for Mapping and Planning
Online mapping and end-to-end (E2E) planning in autonomous driving remain largely sensor-centric, leaving rich map priors, including HD/SD vector maps, rasterized SD maps, and satellite imagery, underused because of heterogeneity, pose drift, and inconsistent availability at test time. We present UMPE, a Unified Map Prior Encoder that can ingest any subset of four priors and fuse them with BEV features for both mapping and planning. UMPE has two branches. The vector encoder pre-aligns HD/SD polylines with a frame-wise SE(2) correction, encodes points via multi-frequency sinusoidal features, and produces polyline tokens with confidence scores. BEV queries then apply cross-attention with co...
| Authors | Zongzheng Zhang, Sizhe Zou, Guantian Zheng et al. |
|---|---|
| Primary category | cs.CV |
| Published | 4 May 2026 |
| Last updated at source | 4 May 2026 |
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