Challenging Environments for Precise Mapping Using GNSS/INS-RTK Systems: Reasons and Analysis

This paper demonstrates the weakness of GNSS/INS-RTK (GIR) systems in mapping challenging environments because of obstruction and deflection of satellite signals. Thus, it emphasizes that the strategy of mapping companies to commercially provide maps using expensive GIR systems does not always work robustly. This limits the scalability of autonomous vehicle deployment in many road structures and modern cities. Accordingly, different critical environments in Tokyo have been analyzed and investigated to demonstrate the effects of the road structure complexity on the GIR map quality with highlighting the relevant reasons. Therefore, this paper is intended to be a reference to prove that the data of GIR systems cannot always be considered as ground truth and the integration of SLAM technologies into the mapping modules is very necessary to enable the levels four and five of autonomous driving.