Zeng, Shuang, Xinyuan Chang, Xinran Liu, Yujian Yuan, Shiyi Liang, Zheng Pan, Mu Xu, and Xing Wei. “PriorDrive: Enhancing Online HD Mapping With Unified Vector Priors”. Proceedings of the AAAI Conference on Artificial Intelligence 40, no. 15 (March 14, 2026): 12313–12321. Accessed May 28, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/38223.