{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T02:23:37Z","timestamp":1767925417428,"version":"3.49.0"},"reference-count":19,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2021,11,11]],"date-time":"2021-11-11T00:00:00Z","timestamp":1636588800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IJGI"],"abstract":"<jats:p>High-definition maps (HDM) for autonomous driving (AD) are an important component of AD systems. HDMs accurately provide a priori information, including lane lines, and road signs, for AD systems. It is an important task to make a reasonable accuracy assessment of the HDM. The current methods for relative accuracy evaluation of general maps in the field of mapping are not fully applicable to HDMs. In this study, a method based on point set alignment and resampling is used to evaluate the relative accuracy of lane lines, and experiments are conducted based on relevant real HDM data. The results show that the relative accuracy of the lane lines is more detailed and relevant than the traditional method. This has implications for the quality control of HDM production.<\/jats:p>","DOI":"10.3390\/ijgi10110761","type":"journal-article","created":{"date-parts":[[2021,11,11]],"date-time":"2021-11-11T23:02:41Z","timestamp":1636671761000},"page":"761","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Study on Relative Accuracy and Verification Method of High-Definition Maps for Autonomous Driving"],"prefix":"10.3390","volume":"10","author":[{"given":"Tengfei","family":"Yu","sequence":"first","affiliation":[{"name":"School of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture, Beijing 102616, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3236-7539","authenticated-orcid":false,"given":"He","family":"Huang","sequence":"additional","affiliation":[{"name":"School of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture, Beijing 102616, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nana","family":"Jiang","sequence":"additional","affiliation":[{"name":"School of Geomatics and Urban Spatial Informatics, Beijing University of Civil Engineering and Architecture, Beijing 102616, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0886-4201","authenticated-orcid":false,"given":"Tri Dev","family":"Acharya","sequence":"additional","affiliation":[{"name":"Institute of Transportation Studies, University of California Davis, Davis, CA 95616, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,11,11]]},"reference":[{"key":"ref_1","first-page":"1","article-title":"Data Logic Structure and Key Technologies on Intelligent High-precision Map","volume":"3","author":"Liu","year":"2020","journal-title":"J. Geod. Geoinf. Sci."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"324","DOI":"10.1017\/S0373463319000638","article-title":"High Definition Map for Automated Driving: Overview and Analysis","volume":"73","author":"Liu","year":"2020","journal-title":"J. Navigation"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Levinson, J., Montemerlo, M., and Thrun, S. (2007). Map-Based Precision Vehicle Localization in Urban Environments. Robotics: Science & Systems III, June, Georgia Institute of Technology.","DOI":"10.15607\/RSS.2007.III.016"},{"key":"ref_4","first-page":"7","article-title":"A lane-level LBS system for vehicle network with high-precision BDS\/GPS positioning","volume":"2015","author":"Chi","year":"2015","journal-title":"Comput. Intell. Neurosci."},{"key":"ref_5","first-page":"27","article-title":"The key challenge of the self-driving car industry in smart cities-high-definition maps","volume":"2","author":"Heiko","year":"2016","journal-title":"Engineering"},{"key":"ref_6","unstructured":"Sutarwala, B.Z.J.D., and Gradworks, T. (2021, September 07). GIS for Mapping of Lane-Level Data and Re-Creation in Real Time for Navigation. Available online: https:\/\/escholarship.org\/content\/qt56m28858\/qt56m28858.pdf."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Schreiber, M., Knoppel, C., and Franke, U. (2013, January 23\u201326). LaneLoc: Lane marking based localization using highly accurate maps. Proceedings of the Intelligent Vehicles Symposium (IV), Gold Coast, QLD, Australia.","DOI":"10.1109\/IVS.2013.6629509"},{"key":"ref_8","first-page":"38","article-title":"High-precision lane-level map elements extracting based on high-resolution remote sensing image","volume":"3","author":"Hou","year":"2021","journal-title":"Bull. Surv. Mapp."},{"key":"ref_9","first-page":"10","article-title":"Position accuracy and its test method for navigation digital maps","volume":"9","author":"Cai","year":"2021","journal-title":"J. Navig. Position."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Levinson, J., and Thrun, S. (2010, January 3\u20137). Robust Vehicle Localization in Urban Environments Using Probabilistic Maps. Proceedings of the IEEE International Conference on Robotics & Automation, Anchorage, AK, USA.","DOI":"10.1109\/ROBOT.2010.5509700"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Fairfield, N., and Urmson, C. (2011, January 9\u201313). Traffic light mapping and detection. Proceedings of the IEEE International Conference on Robotics & Automation, Shanghai, China.","DOI":"10.1109\/ICRA.2011.5980164"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1895","DOI":"10.1109\/LRA.2021.3060406","article-title":"Hd map update for autonomous driving with crowdsourced data","volume":"99","author":"Kim","year":"2021","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_13","unstructured":"Wuhan University School of Surveying and Mapping Survey Leveling Discipline Group (2009). Error Theory and Fundation of Surveying Adjustment-Second Edition, Wuhan University Press."},{"key":"ref_14","unstructured":"(2009, September 30). Specifications for Quality Inspection and Acceptance of Surveying and Mapping Products, GB\/T 24356-2009. Available online: http:\/\/www.cssn.net.cn\/cssn\/productDetail\/f9f6f180a88e0246cf80283a1b52ff48."},{"key":"ref_15","unstructured":"(2009, May 06). Basic Requirements for Products of Digital Topographic Map, GB\/T 17278-2009. Available online: http:\/\/www.cssn.net.cn\/cssn\/productDetail\/5b693051528fa9474332a95d083acd3c."},{"key":"ref_16","unstructured":"ISO 19157: 2013 Geographic Information\u2014Data Quality (2021, September 07). ISO 14041:2013(E), International Standards Organization. Available online: https:\/\/www.iso.org\/standard\/32575.html."},{"key":"ref_17","first-page":"173","article-title":"Localization Requirements for Autonomous Vehicles","volume":"2","author":"Reid","year":"2019","journal-title":"Preprint"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"99","DOI":"10.15302\/J-SSCAE-2018.02.015","article-title":"Progress and Consideration of High Precision Road Navigation Map","volume":"20","author":"Liu","year":"2018","journal-title":"Strateg. Study CAE"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1109\/34.121791","article-title":"A method for registration of 3-D shapes","volume":"14","author":"Besl","year":"1992","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."}],"container-title":["ISPRS International Journal of Geo-Information"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2220-9964\/10\/11\/761\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T07:28:25Z","timestamp":1760167705000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2220-9964\/10\/11\/761"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,11,11]]},"references-count":19,"journal-issue":{"issue":"11","published-online":{"date-parts":[[2021,11]]}},"alternative-id":["ijgi10110761"],"URL":"https:\/\/doi.org\/10.3390\/ijgi10110761","relation":{},"ISSN":["2220-9964"],"issn-type":[{"value":"2220-9964","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,11,11]]}}}