{"ID":2899758,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2507.00980","arxiv_id":"2507.00980","title":"RTMap: Real-Time Recursive Mapping with Change Detection and Localization","abstract":"While recent online HD mapping methods relieve burdened offline pipelines and solve map freshness, they remain limited by perceptual inaccuracies, occlusion in dense traffic, and an inability to fuse multi-agent observations. We propose RTMap to enhance these single-traversal methods by persistently crowdsourcing a multi-traversal HD map as a self-evolutional memory. On onboard agents, RTMap simultaneously addresses three core challenges in an end-to-end fashion: (1) Uncertainty-aware positional modeling for HD map elements, (2) probabilistic-aware localization w.r.t. the crowdsourced prior-map, and (3) real-time detection for possible road structural changes. Experiments on several public autonomous driving datasets demonstrate our solid performance on both the prior-aided map quality and the localization accuracy, demonstrating our effectiveness of robustly serving downstream prediction and planning modules while gradually improving the accuracy and freshness of the crowdsourced prior-map asynchronously. Our source-code will be made publicly available at https://github.com/CN-ADLab/RTMap.","short_abstract":"While recent online HD mapping methods relieve burdened offline pipelines and solve map freshness, they remain limited by perceptual inaccuracies, occlusion in dense traffic, and an inability to fuse multi-agent observations. We propose RTMap to enhance these single-traversal methods by persistently crowdsourcing a mul...","url_abs":"https://arxiv.org/abs/2507.00980","url_pdf":"https://arxiv.org/pdf/2507.00980v2","authors":"[\"Yuheng Du\",\"Sheng Yang\",\"Lingxuan Wang\",\"Zhenghua Hou\",\"Chengying Cai\",\"Zhitao Tan\",\"Mingxia Chen\",\"Shi-Sheng Huang\",\"Qiang Li\"]","published":"2025-07-01T17:32:30Z","proceeding":"cs.CV","tasks":"[\"cs.CV\"]","methods":"[]","has_code":false,"code_links":[{"ID":612516,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2899758,"paper_url":"https://arxiv.org/abs/2507.00980","paper_title":"RTMap: Real-Time Recursive Mapping with Change Detection and Localization","repo_url":"https://github.com/CN-ADLab/RTMap","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}