arXiv Computer Vision
2d ago

ObjectGuidedMap: An Object-Aware Model for Robust Bird's Eye View Map Prediction in High-Occlusion Scenarios

ObjectGuidedMap introduces a multitask architecture that jointly predicts bird's eye view (BEV) maps and 3D objects, enabling explicit information exchange between the two tasks. By adding an object detection branch and cross‑task feature fusion through deformable attention and cross‑attention, the model allows map instances to leverage object context while remaining robust to occlusions. Experiments on nuScenes and Argoverse 2 show consistent improvements in BEV map prediction accuracy, especially a 21% mAP gain in heavily occluded scenes.

By Christian Bohn, Harsh Yadav, Klaus Friedrichs, Hasan Tercan, Tobias Meisen