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This paper introduces ARETE, a DETR-based method for generating vectorized lane representations from crowdsourced vehicle trajectories for HD map creation. The core innovation lies in transforming local tiles of vehicle trajectories into a rasterized representation using HSV encoding to capture both trajectory presence and direction. ARETE predicts centerlines and lane dividers, demonstrating strong performance on internal, nuScenes, and nuPlan datasets.
Encoding vehicle trajectory directionality via HSV rasterization unlocks accurate lane-level HD map generation from crowdsourced data using a DETR architecture.
The continuous advancement of autonomous driving (AD) introduces challenges across multiple disciplines to ensure safe and efficient driving. One such challenge is the generation of High-Definition (HD) maps, which must remain up to date and highly accurate for downstream automotive tasks. One promising approach is the use of crowdsourced data from a vehicle fleet, representing road topology and lane-level features. This work focuses on the generation of centerlines and lane dividers from crowdsourced vehicle trajectories. We adopt a Detection Transformer (DETR)-based approach, where a rasterized representation of vehicle trajectories is used as input to predict vectorized lane representations. Each lane consists of a centerline with an associated direction and corresponding lane dividers that are geometrically constrained by the centerline. Our method includes the extraction of local tiles, from which crowdsourced vehicle trajectories are aggregated. Each tile undergoes a transformation into a rasterized representation encoding both the presence and direction of each trajectory, enabling the prediction of vectorized directed lanes. Experiments are conducted on an internal dataset as well as on the public datasets nuScenes and nuPlan.
