Trust, but Verify: Cross-Modality Fusion for HD Map Change Detection

High-definition (HD) map change detection is the task of determining when sensor data and map data are no longer in agreement with one another due to real-world changes. We collect the first dataset for the task, which we entitle the Trust, but Verify (TbV) dataset, by mining thousands of hours of data from over 9 months of autonomous vehicle fleet operations. We present learning-based formulations for solving the problem in the bird's eye view and ego-view. Because real map changes are infrequent and vector maps are easy to synthetically manipulate, we lean on simulated data to train our model. Perhaps surprisingly, we show that such models can generalize to real world distributions. The dataset consists of maps and logs collected in six North American cities, is one of the largest AV datasets to date with more than 7.9 million images. We make the data available to the public, along with code and models under the the CC BY-NC-SA 4.0 license.