HDMapGen: A Hierarchical Graph Generative Model of High Definition Maps
HDMapGen: A Hierarchical Graph Generative Model of High Definition Maps
High Definition (HD) maps are maps with precise definitions of road lanes with rich semantics of the traffic rules. They are critical for several key stages in an autonomous driving system, including motion forecasting and planning. However, there are only a small amount of real-world road topologies and geometries, which …