CAMA

Official Implementation of A Vision-Centric Approach for Static Map Element Annotation
CAMA： Arxiv | Youtube | Bilibili
CAMAv2： Arxiv | Youtube | Bilibili

CAMA: Consistent and Accurate Map Annotation, nuScenes example:

Pipeline

Release Notes

Please run git checkout camav2 to switch to camav2 branch.

2.1.0 (2025-09-29)

• Release the evaluation scripts (SRE, precision, recall, F1-score).
• Add LiDAR aggregation demo using CAMAv2 reconstructed poses.

2.0.0 (2024-07-31)

• camav2_label.zip [Google Drive]
• CAMAv2 aggregates scenes with intersecting portions into one large scene called a site.
• It solves the shortcoming of dropping head and tail frames in camav1.

1.0.0 (2023-10-13)

• cama_label.zip [Google Drive]
• Upload nuScenes 73 scenes from v1.0-test with CAMA labels.
• Add reprojection demo for both CAMA and nuScenes origin labels.
• Note: if using this older version, change self.map_width and self.map_height to 300 in reproject.py

Run: Reprojection Demo

1. install required python packages

   python3 -m pip install -r requirements.txt  

2. Download camav2_label.zip [Google Drive]

3. Modify config.yaml accordingly:

   • dataroot: path to the origin nuScenes dataset
   • converted_dataroot: output converted dataset dir
   • cama_label_file: path to cama_label.zip you just download from 2
   • output_video_dir: where the demo video writes

4. Run the pipeline

   python3 main.py --config config.yaml

Citation

If you benefit from this work, please cite the mentioned and our paper:

@inproceedings{zhang2021deep,
  title={A Vision-Centric Approach for Static Map Element Annotation},
  author={Zhang, Jiaxin and Chen, Shiyuan and Yin, Haoran and Mei, Ruohong and Liu, Xuan and Yang, Cong and Zhang, Qian and Sui, Wei},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA 2024)},
  pages={1-7}
}

@article{chen2024camav2,
  title={CAMAv2: A Vision-Centric Approach for Static Map Element Annotation},
  author={Chen, Shiyuan and Zhang, Jiaxin and Mei, Ruohong and Cai, Yingfeng and Yin, Haoran and Chen, Tao and Sui, Wei and Yang, Cong},
  journal={arXiv preprint arXiv:2407.21331},
  year={2024}
}