diff --git a/MODULE.bazel b/MODULE.bazel
index a9dcad45ef9379cc5a8d17a6db98ea0a09222711..3d9d3cfc2ad1b7c25dc77ae701c9cf221f44c814 100644
--- a/MODULE.bazel
+++ b/MODULE.bazel
@@ -16,13 +16,12 @@ bazel_dep(name = "rules_cc", version = "0.1.1")
 non_module_dependencies = use_extension("@road_logic_suite//ThirdParty:dependencies.bzl", "non_module_dependencies")
 use_repo(non_module_dependencies, "libOpenDRIVE")
 use_repo(non_module_dependencies, "mantle_api")
-use_repo(non_module_dependencies, "map_sdk")
 use_repo(non_module_dependencies, "rtree")
 use_repo(non_module_dependencies, "units_nhh")
 
 # Development dependencies
 # potential issue with googletest as dev_dependency, see: https://github.com/bazelbuild/bazel/issues/22187
-bazel_dep(name = "googletest", version = "1.16.0", dev_dependency = True)  
+bazel_dep(name = "googletest", version = "1.16.0", dev_dependency = True)
 bazel_dep(name = "hedron_compile_commands", dev_dependency = True)
 bazel_dep(name = "rules_pkg", version = "1.0.1", dev_dependency = True)
 
diff --git a/MODULE.bazel.lock b/MODULE.bazel.lock
index 08ed85bfa1c81bad61c798168e71b1049f13c85b..7207ce5759ce10a6e57c0fcebb31a37e0908fe4e 100644
--- a/MODULE.bazel.lock
+++ b/MODULE.bazel.lock
@@ -109,7 +109,7 @@
   "moduleExtensions": {
     "//ThirdParty:dependencies.bzl%non_module_dependencies": {
       "general": {
-        "bzlTransitiveDigest": "tBk6QzAGQbt/BtLhfoOUUP6eX8cYszl0ArIQfc2O2oQ=",
+        "bzlTransitiveDigest": "u/aCpQZk1t7M7Sh4yTF5a41Pa7b9fShVzdS/cxWeBg8=",
         "usagesDigest": "fWqXZiAX8d00fAObEYNQNqPsov2UU/t4Er303zhLExI=",
         "recordedFileInputs": {},
         "recordedDirentsInputs": {},
@@ -150,19 +150,9 @@
             "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl",
             "ruleClassName": "http_archive",
             "attributes": {
-              "url": "https://gitlab.eclipse.org/eclipse/openpass/mantle-api/-/archive/v18.0.1/mantle-api-v18.0.1.tar.gz",
-              "sha256": "04f15e1b932ffabff2e6e3070c2d2205916a30a53c8eaed49de510a01903e104",
-              "strip_prefix": "mantle-api-v18.0.1",
-              "type": "tar.gz"
-            }
-          },
-          "map_sdk": {
-            "bzlFile": "@@bazel_tools//tools/build_defs/repo:http.bzl",
-            "ruleClassName": "http_archive",
-            "attributes": {
-              "url": "https://gitlab.eclipse.org/eclipse/openpass/map-sdk/-/archive/v0.4.0/map-sdk-v0.4.0.tar.gz",
-              "sha256": "7e51abc9e049951b13cac39eba249fd7c5fb71444e70f5e4f741949e67483858",
-              "strip_prefix": "map-sdk-v0.4.0",
+              "url": "https://gitlab.eclipse.org/eclipse/openpass/mantle-api/-/archive/v20.0.0/mantle-api-v20.0.0.tar.gz",
+              "sha256": "ac7bc046f01a80a6b76d276919b2650ab65e2b3c4318672deb32905e1aa4b487",
+              "strip_prefix": "mantle-api-v20.0.0",
               "type": "tar.gz"
             }
           }
diff --git a/NOTICE.md b/NOTICE.md
index d843582a4016d24e8babfb205a3f15d486f42f0d..e623827ea34243af770f8ba50810d18154d55b6b 100644
--- a/NOTICE.md
+++ b/NOTICE.md
@@ -29,12 +29,7 @@ The project maintains the following source code repositories:
 ### mantle_api (MantleAPI)
 - License: [Eclipse Public License 2.0](https://gitlab.eclipse.org/eclipse/simopenpass/scenario_api/-/blob/master/LICENSE.txt)
 - Repository: https://gitlab.eclipse.org/eclipse/simopenpass/scenario_api
-- Commit: see https://gitlab.eclipse.org/eclipse/openpass/mantle-api/-/tags/v18.0.1
-
-### map_sdk
-- License: [Eclipse Public License 2.0](https://gitlab.eclipse.org/eclipse/openpass/map-sdk/-/blob/main/LICENSE.txt)
-- Repository: https://gitlab.eclipse.org/eclipse/openpass/map-sdk
-- Commit: see https://gitlab.eclipse.org/eclipse/openpass/map-sdk/-/tags/v0.4.0
+- Commit: see https://gitlab.eclipse.org/eclipse/openpass/mantle-api/-/tags/v20.0.0
 
 ### libOpenDRIVE
 - License: [Apache-2.0 License](https://github.com/grepthat/libOpenDRIVE/blob/master/LICENSE)
diff --git a/RoadLogicSuite/BUILD b/RoadLogicSuite/BUILD
index 960948882648b5532de8f50436b611a50f71abd6..edc6de02cf1d11632a1aba0eea4fd403669fe6df 100644
--- a/RoadLogicSuite/BUILD
+++ b/RoadLogicSuite/BUILD
@@ -18,7 +18,7 @@ cc_library(
     deps = [
         "//RoadLogicSuite/Internal:road_logic_suite_impl",
         "//RoadLogicSuite/Internal/MapConversion:mantle_map_converter",
-        "@map_sdk//:map_api",
+        "@mantle_api",
     ],
     alwayslink = True,
 )
@@ -32,7 +32,7 @@ cc_library(
         ":map_converter_config",
         "//RoadLogicSuite/Internal:road_logic_suite_impl",
         "//RoadLogicSuite/Internal/MapConversion:mantle_map_converter",  # for map loader
-        "@map_sdk//:map_api",
+        "@mantle_api",
     ],
     alwayslink = True,
 )
diff --git a/RoadLogicSuite/Internal/MapConversion/BUILD b/RoadLogicSuite/Internal/MapConversion/BUILD
index d48c5de84822effa0557c89644b7efe53da4ee50..533cc9fcf55af5b85766e19314e5312952d8439c 100644
--- a/RoadLogicSuite/Internal/MapConversion/BUILD
+++ b/RoadLogicSuite/Internal/MapConversion/BUILD
@@ -29,7 +29,7 @@ cc_library(
         ":mantle_map_converter_utils",
         "//RoadLogicSuite/Internal:open_drive_data",
         "//RoadLogicSuite/Internal:road",
-        "@map_sdk//:map_api",
+        "@mantle_api",
     ],
 )
 
@@ -40,7 +40,7 @@ cc_library(
     deps = [
         ":mantle_id_provider",
         "//RoadLogicSuite/Internal/Utils:converter_utils",
-        "@map_sdk//:map_api",
+        "@mantle_api",
     ],
 )
 
@@ -60,7 +60,7 @@ cc_library(
         ":mantle_road_signal_converter",
         "//RoadLogicSuite:map_converter_config",
         "//RoadLogicSuite/Internal:i_map_converter",
-        "@map_sdk//:map_api",
+        "@mantle_api",
     ],
 )
 
diff --git a/RoadLogicSuite/Internal/MapConversion/mantle_map_converter.cpp b/RoadLogicSuite/Internal/MapConversion/mantle_map_converter.cpp
index 90bfcb5c2463d6ad8c98b744c8c935656965e5bb..2361a722a4f55dc3b3c34d41f9bd56a77a6ef969 100644
--- a/RoadLogicSuite/Internal/MapConversion/mantle_map_converter.cpp
+++ b/RoadLogicSuite/Internal/MapConversion/mantle_map_converter.cpp
@@ -727,8 +727,8 @@ std::unique_ptr<map_api::ReferenceLine> MantleMapConverter::CreateReferenceLine(
         reference_line_points.push_back(last_point.value());
     }
 
-    auto reference_line = std::make_unique<map_api::ReferenceLine>(
-        map_api::ReferenceLine{id_provider_.GetNewId().Value(), reference_line_points});
+    auto reference_line = std::make_unique<map_api::ReferenceLine>(map_api::ReferenceLine{
+        id_provider_.GetNewId().Value(), map_api::ReferenceLine::Type::kPolyLineWithTAxis, reference_line_points});
 
     return reference_line;
 }
diff --git a/RoadLogicSuite/Internal/Utils/BUILD b/RoadLogicSuite/Internal/Utils/BUILD
index 504861704ce5bc425e0c672ab90362d18ef6502b..ddbad15590a54ad6e9aa9124bdefdac0086fea36 100644
--- a/RoadLogicSuite/Internal/Utils/BUILD
+++ b/RoadLogicSuite/Internal/Utils/BUILD
@@ -9,7 +9,6 @@ cc_library(
         "//RoadLogicSuite/Internal:coordinate_converter",
         "//RoadLogicSuite/Internal/Geometry:line",
         "@mantle_api",
-        "@map_sdk//:map_api",
     ],
 )
 
diff --git a/RoadLogicSuite/Tests/MantleMapConvertIntegrationTestFixture/BUILD b/RoadLogicSuite/Tests/MantleMapConvertIntegrationTestFixture/BUILD
index 5d130c619e8b6f0e763a6aaaa2b742c65825cd9a..e95215ee329e615c6a2172db245a5db7c7da1527 100644
--- a/RoadLogicSuite/Tests/MantleMapConvertIntegrationTestFixture/BUILD
+++ b/RoadLogicSuite/Tests/MantleMapConvertIntegrationTestFixture/BUILD
@@ -17,6 +17,6 @@ cc_library(
         "//RoadLogicSuite/Tests/Utils:custom_assertions",
         "//RoadLogicSuite/Tests/Utils:file_paths",
         "@googletest//:gtest_main",
-        "@map_sdk//:map_api",
+        "@mantle_api",
     ],
 )
diff --git a/ThirdParty/dependencies.bzl b/ThirdParty/dependencies.bzl
index d613c2f9dd2337329367b5511a22a25394b37566..52bf4d8754856002493e90a34366f9c7318cd421 100644
--- a/ThirdParty/dependencies.bzl
+++ b/ThirdParty/dependencies.bzl
@@ -1,9 +1,8 @@
-load("@road_logic_suite//ThirdParty/libOpenDRIVE:libOpenDrive.bzl", "lib_open_drive")
-load("@road_logic_suite//ThirdParty/units:units.bzl", "units_nhh")
-load("@road_logic_suite//ThirdParty/rtree:rtree.bzl", "rtree")
 load("@road_logic_suite//ThirdParty/bazel_clang_tidy:bazel_clang_tidy.bzl", "bazel_clang_tidy")
+load("@road_logic_suite//ThirdParty/libOpenDRIVE:libOpenDrive.bzl", "lib_open_drive")
 load("@road_logic_suite//ThirdParty/mantle_api:mantle_api.bzl", "mantle_api")
-load("@road_logic_suite//ThirdParty/map_sdk:map_sdk.bzl", "map_sdk")
+load("@road_logic_suite//ThirdParty/rtree:rtree.bzl", "rtree")
+load("@road_logic_suite//ThirdParty/units:units.bzl", "units_nhh")
 
 def _non_module_dependencies_impl(_ctx):
     """
@@ -13,7 +12,6 @@ def _non_module_dependencies_impl(_ctx):
     units_nhh()
     rtree()
     mantle_api()
-    map_sdk()
 
 non_module_dependencies = module_extension(
     implementation = _non_module_dependencies_impl,
diff --git a/ThirdParty/mantle_api/mantle_api.bzl b/ThirdParty/mantle_api/mantle_api.bzl
index 75062a7bef3f17e5cfff0210960ae4f280b8c624..1fd8d60b48ff449105551a1a0052f116972f441c 100644
--- a/ThirdParty/mantle_api/mantle_api.bzl
+++ b/ThirdParty/mantle_api/mantle_api.bzl
@@ -1,14 +1,14 @@
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
 
-_TAG = "v18.0.1"
+_TAG = "v20.0.0"
 
 def mantle_api():
     maybe(
         http_archive,
         name = "mantle_api",
         url = "https://gitlab.eclipse.org/eclipse/openpass/mantle-api/-/archive/{tag}/mantle-api-{tag}.tar.gz".format(tag = _TAG),
-        sha256 = "04f15e1b932ffabff2e6e3070c2d2205916a30a53c8eaed49de510a01903e104",
+        sha256 = "ac7bc046f01a80a6b76d276919b2650ab65e2b3c4318672deb32905e1aa4b487",
         strip_prefix = "mantle-api-{tag}".format(tag = _TAG),
         type = "tar.gz",
     )
diff --git a/ThirdParty/map_sdk/BUILD.bazel b/ThirdParty/map_sdk/BUILD.bazel
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/ThirdParty/map_sdk/map_sdk.bzl b/ThirdParty/map_sdk/map_sdk.bzl
deleted file mode 100644
index ace7ebb9d3672ffbb807d20a4250d9a811d68922..0000000000000000000000000000000000000000
--- a/ThirdParty/map_sdk/map_sdk.bzl
+++ /dev/null
@@ -1,14 +0,0 @@
-load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
-load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
-
-_TAG = "v0.4.0"
-
-def map_sdk():
-    maybe(
-        http_archive,
-        name = "map_sdk",
-        url = "https://gitlab.eclipse.org/eclipse/openpass/map-sdk/-/archive/{tag}/map-sdk-{tag}.tar.gz".format(tag = _TAG),
-        sha256 = "7e51abc9e049951b13cac39eba249fd7c5fb71444e70f5e4f741949e67483858",
-        strip_prefix = "map-sdk-{tag}".format(tag = _TAG),
-        type = "tar.gz",
-    )