Generation of high definition map for accurate and robust localization

Abstract

This paper presents a framework for generating high-definition (HD) map, and then achieves accurate and robust localization by virtue of the map. An iterative approximation based method is developed to generate a HD map in Lanelet2 format. A feature association method based on structural consistency and feature similarity is proposed to match the elements of the HD map and the actual detected elements. The feature association results from the HD map are used to correct lateral drift in the light detection and ranging odometry. Finally, some experimental results are presented to verify the reliability and accuracy of autonomous driving localization.

Keywords

High definition map / factor graph optimization / localization / reprojection error