{"id":"https://openalex.org/W7160959921","doi":"https://doi.org/10.48550/arxiv.2605.09619","title":"GSMap: 2D Gaussians for Online HD Mapping","display_name":"GSMap: 2D Gaussians for Online HD Mapping","publication_year":2026,"publication_date":"2026-05-10","ids":{"openalex":"https://openalex.org/W7160959921","doi":"https://doi.org/10.48550/arxiv.2605.09619"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.09619","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09619","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.09619","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125288656","display_name":"Zhenxuan Zeng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeng, Zhenxuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136001541","display_name":"Sheng Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Lingxuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135965959","display_name":"Lingxuan Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Sheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121853780","display_name":"Ya\u2019nan He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"He, Yanan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037004693","display_name":"Mingxia Chen","orcid":"https://orcid.org/0000-0001-8775-0987"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Mingxia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135942118","display_name":"Wei Suo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Suo, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135972634","display_name":"Peng Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Peng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8622000217437744,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8622000217437744,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.04320000112056732,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.025100000202655792,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.5109999775886536},{"id":"https://openalex.org/keywords/geometric-primitive","display_name":"Geometric primitive","score":0.491100013256073},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.47540000081062317},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4657000005245209},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.414000004529953},{"id":"https://openalex.org/keywords/vectorization","display_name":"Vectorization (mathematics)","score":0.3880999982357025},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.38760000467300415},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.3456000089645386},{"id":"https://openalex.org/keywords/geometric-shape","display_name":"Geometric shape","score":0.33329999446868896}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.656000018119812},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.5109999775886536},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.491100013256073},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.47540000081062317},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4657000005245209},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.42500001192092896},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.414000004529953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39079999923706055},{"id":"https://openalex.org/C41681595","wikidata":"https://www.wikidata.org/wiki/Q7917855","display_name":"Vectorization (mathematics)","level":2,"score":0.3880999982357025},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.38760000467300415},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.3456000089645386},{"id":"https://openalex.org/C7305733","wikidata":"https://www.wikidata.org/wiki/Q207961","display_name":"Geometric shape","level":2,"score":0.33329999446868896},{"id":"https://openalex.org/C2778648169","wikidata":"https://www.wikidata.org/wiki/Q967768","display_name":"Compatibility (geochemistry)","level":2,"score":0.3330000042915344},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.32519999146461487},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.32030001282691956},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.31859999895095825},{"id":"https://openalex.org/C136520226","wikidata":"https://www.wikidata.org/wiki/Q302814","display_name":"Geometric data analysis","level":2,"score":0.31850001215934753},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.29030001163482666},{"id":"https://openalex.org/C2781170535","wikidata":"https://www.wikidata.org/wiki/Q30587856","display_name":"Noisy data","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.28850001096725464},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.2806999981403351},{"id":"https://openalex.org/C2776477805","wikidata":"https://www.wikidata.org/wiki/Q4460773","display_name":"Topological data analysis","level":2,"score":0.27630001306533813},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2741999924182892},{"id":"https://openalex.org/C116409475","wikidata":"https://www.wikidata.org/wiki/Q1385056","display_name":"External Data Representation","level":2,"score":0.2734000086784363},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C154504017","wikidata":"https://www.wikidata.org/wiki/Q853614","display_name":"Identifier","level":2,"score":0.2623000144958496},{"id":"https://openalex.org/C162319229","wikidata":"https://www.wikidata.org/wiki/Q175263","display_name":"Data structure","level":2,"score":0.25360000133514404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.09619","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09619","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.09619","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09619","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"High-Definition":[1],"(HD)":[2],"map":[3,58],"construction":[4],"is":[5,60],"critical":[6],"for":[7],"autonomous":[8],"driving,":[9],"yet":[10],"existing":[11,127],"methods":[12],"face":[13],"a":[14,44,52],"fundamental":[15],"trade-off:":[16],"vectorization-based":[17],"approaches":[18,28],"preserve":[19],"topology":[20],"but":[21,33],"struggle":[22],"with":[23,126],"geometric":[24,31,91,114],"fidelity,":[25],"while":[26],"rasterization-based":[27],"enable":[29],"precise":[30],"supervision":[32],"produce":[34],"unstructured":[35],"outputs.":[36],"To":[37],"bridge":[38],"this":[39],"gap,":[40],"we":[41],"propose":[42],"GSMap,":[43],"novel":[45],"framework":[46],"that":[47,88,97,108],"unifies":[48,113],"both":[49,103],"paradigms":[50],"via":[51],"learnable":[53],"2D":[54,67],"Gaussian":[55],"representation.":[56],"Each":[57],"element":[59],"modeled":[61],"as":[62],"an":[63],"ordered":[64],"sequence":[65],"of":[66,75],"Gaussians,":[68],"whose":[69],"centers":[70],"correspond":[71],"to":[72],"the":[73,76],"vertices":[74],"vectorized":[77],"polyline/polygon.":[78],"This":[79],"formulation":[80],"enables":[81],"simultaneous":[82],"optimization":[83],"through:":[84],"(1)":[85],"Differentiable":[86],"rasterization":[87],"enforces":[89],"pixel-level":[90],"constraints,":[92],"and":[93,105,115,122],"(2)":[94],"Topology-aware":[95],"vectorization":[96],"maintains":[98],"structural":[99],"regularity.":[100],"Experiments":[101],"on":[102],"nuScenes":[104],"Argoverse2":[106],"demonstrate":[107],"our":[109],"Gaussian-based":[110],"representation":[111],"effectively":[112],"topological":[116],"learning,":[117],"achieving":[118],"significant":[119],"performance":[120],"improvements":[121],"demonstrating":[123],"strong":[124],"compatibility":[125],"HD":[128],"mapping":[129],"architectures.":[130],"Code":[131],"will":[132],"be":[133],"available":[134],"at":[135],"https://github.com/peakpang/GSMap":[136]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-13T00:00:00"}