System and method for reducing GPS noise and correcting vehicle GPS trajectory for high definition maps

A method of correcting a GPS vehicle trajectory of a vehicle on a road for a high definition map is provided. The method includes receiving first bitmap data from a first sensor of a first vehicle to create a plurality of first multilayer bitmaps for the first vehicle using the first bitmap data and receiving second bitmap data from a plurality of second sensors of a plurality of second vehicles to create a plurality of second multilayer bitmaps. The method further includes creating first probability density bitmaps and a total probability density bitmap using probability density estimates, and matching an image template from each of the first probability density bitmaps with the total probability density bitmap to define a matching result. The method further includes combining the matching results to define a combined utility value and determining a maximum utility value using the combined utility value. 提供了一种针对高清地图校正道路上的车辆的GPS车辆轨迹的方法。该方法包括从第一车辆的第一传感器接收第一位图数据以便使用第一位图数据为第一车辆创建多个第一多层位图以及从多个第二车辆的多个第二传感器接收第二位图数据