MapLite 2.0: Online HD Map Inference Using a Prior SD Map
Deploying fully autonomous vehicles has been a subject of intense research in both industry and academia. However, the majority of these efforts have relied heavily on High Definition (HD) prior maps. These are necessary to provide the planning and control modules a rich model of the operating envir...
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| Veröffentlicht in: | IEEE robotics and automation letters 2022-07, Vol.7 (3), p.8355-8362 |
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| container_title | IEEE robotics and automation letters |
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| creator | Ort, Teddy Walls, Jeffrey M. Parkison, Steven A. Gilitschenski, Igor Rus, Daniela |
| description | Deploying fully autonomous vehicles has been a subject of intense research in both industry and academia. However, the majority of these efforts have relied heavily on High Definition (HD) prior maps. These are necessary to provide the planning and control modules a rich model of the operating environment. While this approach has shown success, it drastically limits both the scale and scope of these deployments as creating and maintaining HD maps for very large areas can be prohibitive. In this work, we present a new method for building the HD map online by starting with a Standard Definition (SD) prior map such as a navigational road map, and incorporating onboard sensors to infer the local HD map. We evaluate our method extensively on 100 sequences of real-world vehicle data and demonstrate that it can infer a highly structured HD map-like model of the world accurately using only SD prior maps and onboard sensors. |
| doi_str_mv | 10.1109/LRA.2022.3186491 |
| format | Article |
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| identifier | ISSN: 2377-3766 |
| ispartof | IEEE robotics and automation letters, 2022-07, Vol.7 (3), p.8355-8362 |
| issn | 2377-3766 2377-3766 |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Autonomous vehicle navigation Estimation Geometry HD maps High definition high definition maps Laser radar localization mapless driving mapping Navigation Roads Semantics Sensors Topology |
| title | MapLite 2.0: Online HD Map Inference Using a Prior SD Map |
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