The base model takes surround-view images of the ego-vehicle as input. As shown in Figure 1, we provide further visual comparisons of HD map vectorization results. The results reaffirm the necessity of a rasterization perspective in map vectorization. Figure 1 presents more visualization of MapVR's HD map construction results. As discussed in Section 3, the Chamfer-distance-based metric struggles to offer a fair evaluation for such scenarios.

The base model takes surround-view images of the ego-vehicle as input. As shown in Figure 1, we provide further visual comparisons of HD map vectorization results. The results reaffirm the necessity of a rasterization perspective in map vectorization. Figure 1 presents more visualization of MapVR's HD map construction results. As discussed in Section 3, the Chamfer-distance-based metric struggles to offer a fair evaluation for such scenarios.

High-definition (HD) vectorized map is essential for autonomous driving, providing detailed and precise environmental information for advanced perception and planning. However, current map vectorization methods often exhibit deviations, and the existing evaluation metric for map vectorization lacks sufficient sensitivity to detect these deviations. To address these limitations, we propose integrating the philosophy of rasterization into map vectorization. Specifically, we introduce a new rasterization-based evaluation metric, which has superior sensitivity and is better suited to real-world autonomous driving scenarios. Furthermore, we propose MapVR (Map Vectorization via Rasterization), a novel framework that applies differentiable rasterization to vectorized outputs and then performs precise and geometry-aware supervision on rasterized HD maps.