ASSOCIATING HIGH-DEFINITION MAP MODEL PREDICTIONS

In some aspects, an ego vehicle obtains, at a first timestamp, one or more first components of a high-definition (HD) map represented by a first set of polylines, obtains, at a second timestamp subsequent to the first timestamp, one or more second components of the HD map represented by a second set of polylines, and determines one or more current components of the HD map at the second timestamp based at least in part on an association between the one or more first components of the HD map and the one or more second components of the HD map.