End-to-end tracking and prediction system and method for high definition (hd) vectorized map construction

An end-to-end tracking and prediction system for HD vectorized map construction comprising:

• a BEV encoder processing multi-view images at each frame to extract perspective-view features and BEV features;
• a semantic-aware query generator extracting semantic-aware queries from the BEV features using mask-aware attention and generating a rasterized map with BEV segmentation mask through multi-layer decoding;
• a map decoder processing the perspective-view features and BEV features and the semantic-aware queries together to produce coordinates, roadway markings, and certainty scores;
• and
• a filtering device filtering output detected queries of the map decoder as positive using a detection threshold based on the certainty scores.

A method of forming an end-to-end tracking and prediction system for HD vectorized map construction comprising:

• processing multi-view images at each frame to extract perspective-view features and BEV features;
• extracting semantic-aware queries from the BEV features using mask-aware attention and generating a rasterized map with BEV segmentation mask through multi-layer decoding;
• processing the perspective-view features and BEV features and the semantic-aware queries together to produce coordinates, roadway markings, and certainty scores through a map decoder;
• filtering output detected queries of the map decoder as positive using a detection threshold based on the certainty scores;
• storing a predicted rasterized map for each tracked instance in a map memory;
• sampling corresponding positions on the extract perspective-view features and BEV features from the map memory establishing a geometric prior for progressing track queries in a new frame and progressing propagation of track queries across temporal sequences.