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Leveraging Vision-Based Point Cloud Map Priors for Camera-Based 3D Object Detection and Online Vectorized HD Mapping

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Camera-based 3D object detection and online vectorized HD mapping provide compact scene representations for autonomous driving, but both depend on accurate metric geometry and remain limited by depth ambiguity. Over long-term deployment, observations from repeated traversals can be accumulated into persistent point cloud priors that provide geometric context beyond the current observations. Existing explicit point cloud prior approaches, however, rely on LiDAR-based map construction and therefore require expensive 3D ranging sensors. We propose a framework that constructs a static point cloud

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