VQ-Map: Bird extquotesingle s-Eye-View Map Layout Estimation in Tokenized Discrete Space via Vector Quantization - Zhang, Yiwei; Gao, Jin; Ge, Fudong; Luo, Guan; Li, Bing; Zhang, Zhaoxiang; Ling, Haibin; Hu, Weiming (Advances in Neural Information Processing Systems, 2024)