Hierarchical map representation using vector maps and geometrical maps for self-localization1This research did not receive any specific grant from funding agencies in the public, commercial, or not-for-profit sectors. (December 2022)

• Record Type: Journal Article
• Authors: Endo, Yuki; Izawa, Taiki; Kamijo, Shunsuke
• Is Part Of: IATSS research. Volume 46:Number 4(2022)
• Page Start: 450
• Page End: 456
• Publication Date: 2022-12
• Subjects: Autonomous driving -- Self-localization -- Vector map; Traffic safety -- Periodicals; Transportation and state -- Periodicals; Verkeersveiligheid; Internationale organisaties; Traffic safety; Transportation and state; Periodicals; 363.1256
• DOI: 10.1016/j.iatssr.2022.07.002
• Languages: English
• ISSNs: 0386-1112

Abstract

Abstract: Map-based self-localization estimates the pose of the self-driving vehicle in an environment, becoming an essential part of autonomous driving tasks. Generally, maps used in self-localization have detailed geometric information on an environment in formats such as point cloud maps and Gaussian mixture model (GMM) maps. As other maps are widely developed for autonomous driving, vector maps store more object-focused information, such as buildings and road facilities, for navigation and scene understanding in autonomous driving tasks. However, it is not compatible with self-localization due to the lack of detailed geometric information. The two different map formats of vector maps and maps for self-localization complicate the management, preventing the development of the area where a self-driving vehicle can drive stably. This paper proposes a unified map format with a hierarchical structure that enables both vector maps and self-localization maps (i.e., GMM maps) to be managed more easily. Because proposed maps can be treated as vector maps at the high-level layer, various tasks related to navigation and scene understanding in autonomous driving can utilize. A GMM map is stored at the low-level layer associated with a vector map component, enabling accurate self-localization in an environment. The proposed map format is compatible with vector maps widely developed by mapping companies on the surface and facilitates future map management. The experimental results of self-localization in urban areas showed that the proposed map gives the competitive self-localization accuracy compared with the GMM map even with fewer cells that link to vector components. The proposed maps enable self-localization with sufficient accuracy for safe autonomous driving operations. Highlights: Because maps for self-localization are incompatible with vector maps developed globally, the unified format is needed. A hierarchical map that combines a vector map and a map for selflocalization is proposed. The hierarchical map enables the unified management and applications of both. Self-localization with the map maintains lane-level accuracy required for safe autonomous driving in urban area.