{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T23:22:44Z","timestamp":1783034564722,"version":"3.54.6"},"reference-count":23,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2022,9,18]],"date-time":"2022-09-18T00:00:00Z","timestamp":1663459200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Chosun University"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>High-definition (HD) mapping is a promising approach to realize highly automated driving (AD). Although HD maps can be applied to all levels of autonomy, their use is particularly beneficial for autonomy levels 4 or higher. HD maps enable AD systems to see beyond the field of view of conventional sensors, thereby providing accurate and detailed information regarding a driving environment. An HD map is typically separated into a pointcloud map for localization and a vector map for path planning. In this paper, we introduce two separate but successive HD map generation workflows. Of the several stages involved, the registration and mapping processes are essential for creating the pointcloud and vector maps, respectively. To facilitate the readers\u2019 understanding, the processes of these two stages have been recorded and uploaded online. HD maps are typically generated using open-source software (OSS) tools. CloudCompare and ASSURE, as representative tools, are used in this study. The generated HD maps are validated with localization and path-planning modules in Autoware, which is also an OSS stack for AD systems. The generated HD maps enable environmental-monitoring vehicles to successfully operate at level 4 autonomy.<\/jats:p>","DOI":"10.3390\/s22187056","type":"journal-article","created":{"date-parts":[[2022,9,19]],"date-time":"2022-09-19T04:49:22Z","timestamp":1663562962000},"page":"7056","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["Tutorial on High-Definition Map Generation for Automated Driving in Urban Environments"],"prefix":"10.3390","volume":"22","author":[{"given":"Jinseop","family":"Jeong","sequence":"first","affiliation":[{"name":"School of Mechanical System and Automotive Engineering, Chosun University, Gwangju 61452, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jun Yong","family":"Yoon","sequence":"additional","affiliation":[{"name":"School of Mechanical System and Automotive Engineering, Chosun University, Gwangju 61452, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hwanhong","family":"Lee","sequence":"additional","affiliation":[{"name":"School of Mechanical System and Automotive Engineering, Chosun University, Gwangju 61452, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hatem","family":"Darweesh","sequence":"additional","affiliation":[{"name":"Graduate School of Informatics, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Woosuk","family":"Sung","sequence":"additional","affiliation":[{"name":"School of Mechanical System and Automotive Engineering, Chosun University, Gwangju 61452, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,9,18]]},"reference":[{"key":"ref_1","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. Navig."},{"key":"ref_2","unstructured":"(2022, June 25). Explanation and Guidance Materials of High-Definition Road Maps. Available online: https:\/\/www.ngii.go.kr\/kor\/contents\/view.do?sq=1251&board_code=contents_data."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"415","DOI":"10.5194\/isprs-archives-XLIII-B4-2020-415-2020","article-title":"Creation of high definition map for autonomous driving","volume":"43","author":"Tsushima","year":"2020","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci.\u2014ISPRS Arch."},{"key":"ref_4","unstructured":"(2022, June 25). Operational Behavior of a High Definition Map Application White Paper. Available online: https:\/\/aecc.org\/wp-content\/uploads\/2020\/07\/Operational_Behavior_of_a_High_Definition_Map_Application.pdf."},{"key":"ref_5","first-page":"132","article-title":"A comparison of Korea standard HD map for actual driving support of autonomous vehicles and analysis of application layers","volume":"23","author":"Won","year":"2020","journal-title":"KAGIS"},{"key":"ref_6","first-page":"31","article-title":"A Comparative Study on the Regulation-Free Special Zone and the Regional Special Development Zone","volume":"17","author":"Choi","year":"2019","journal-title":"J. Digit. Converg."},{"key":"ref_7","first-page":"39","article-title":"A study on data model conversion method for the application of autonomous driving of various kinds of HD Map","volume":"51","author":"Lee","year":"2021","journal-title":"J. Cadastre Land Inf."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Darweesh, H., Takeuchi, E., and Takeda, K. (2021, January 11\u201317). OpenPlanner 2.0: The Portable Open Source Planner for Autonomous Driving Applications. Proceedings of the 2021 IEEE Intelligent Vehicles Symposium Workshops (IV Workshops), Nagoya, Japan.","DOI":"10.1109\/IVWorkshops54471.2021.9669253"},{"key":"ref_9","unstructured":"(2022, June 25). Behavior Signal Processing Laboratory at Nagoya University. Available online: https:\/\/sites.google.com\/a\/g.sp.m.is.nagoya-u.ac.jp\/takedalab-en\/home."},{"key":"ref_10","unstructured":"(2022, June 25). Autoware\u2014Mapping Using Rosbag. Available online: https:\/\/youtu.be\/ss6Blrz23h8."},{"key":"ref_11","unstructured":"(2022, June 25). 3D High-Definition Map (Shape) Download. Available online: http:\/\/map.ngii.go.kr\/ms\/pblictn\/preciseRoadMap.do."},{"key":"ref_12","unstructured":"(2022, June 25). Usage of CloudCompare for Pointcloud Mapping. Available online: https:\/\/youtu.be\/xFhbmgWyUEA."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Magnusson, M., Nuchter, A., Lorken, C., Lilienthal, A.J., and Hertzberg, J. (2009, January 12\u201317). Evaluation of 3D registration reliability and speed\u2014A comparison of ICP and NDT. Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA2009), Kobe, Japan.","DOI":"10.1109\/ROBOT.2009.5152538"},{"key":"ref_14","unstructured":"(2022, June 25). ASSURE Map Editor. Available online: https:\/\/github.com\/hatem-darweesh\/assuremappingtools\/blob\/master\/docs\/ASSURE%20Map%20Editor%20Documentation%200.6.pdf."},{"key":"ref_15","unstructured":"(2022, June 25). Usage of ASSURE Map Editor for Vector Mapping. Available online: https:\/\/youtu.be\/qBssNCAshTY."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"668","DOI":"10.20965\/jrm.2017.p0668","article-title":"Open source integrated planner for autonomous navigation in highly dynamic environments","volume":"29","author":"Darweesh","year":"2017","journal-title":"JRM"},{"key":"ref_17","unstructured":"(2022, June 25). OpenPlanner V1.5 How to Start. Available online: https:\/\/youtu.be\/BS5nLtBsXPE."},{"key":"ref_18","unstructured":"Dosovitskiy, A., Ros, G., Codevilla, F., Lopez, A., and Koltun, V. (2017, January 13\u201315). CARLA: An open urban driving simulator. Proceedings of the Conference on robot learning, Mountain View, CA, USA."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Rong, G., Shin, B.H., Tabatabaee, H., Lu, Q., Lemke, S., Mo\u017eeiko, M., Boise, E., Uhm, G., Gerow, M., and Mehta, S. (2020, January 20\u201323). Lgsvl simulator: A high fidelity simulator for autonomous driving. Proceedings of the 2020 IEEE 23rd International conference on intelligent transportation systems (ITSC), Rhodes, Greece.","DOI":"10.1109\/ITSC45102.2020.9294422"},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Aparow, V.R., Choudary, A., Kulandaivelu, G., Webster, T., Dauwels, J., and de Boer, N. (2019, January 3\u20135). A comprehensive simulation platform for testing autonomous vehicles in 3D virtual environment. Proceedings of the 2019 IEEE 5th International Conference on Mechatronics System and Robots (ICMSR), Singapore.","DOI":"10.1109\/ICMSR.2019.8835477"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Hong, C.J., and Aparow, V.R. (2021, January 23\u201324). System configuration of Human-in-the-loop Simulation for Level 3 Autonomous Vehicle using IPG CarMaker. Proceedings of the 2021 IEEE International Conference on Internet of Things and Intelligence Systems (IoTaIS), Bandung, Indonesia.","DOI":"10.1109\/IoTaIS53735.2021.9628587"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"2310","DOI":"10.1109\/TITS.2019.2916354","article-title":"IEEE Trans","volume":"21","author":"Dixit","year":"2019","journal-title":"Intell. Transp. Syst."},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Nalic, D., Eichberger, A., Hanzl, G., Fellendorf, M., and Rogic, B. (2019, January 27\u201330). Development of a co-simulation framework for systematic generation of scenarios for testing and validation of automated driving systems. Proceedings of the 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand.","DOI":"10.1109\/ITSC.2019.8916839"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/18\/7056\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T00:33:47Z","timestamp":1760142827000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/18\/7056"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,9,18]]},"references-count":23,"journal-issue":{"issue":"18","published-online":{"date-parts":[[2022,9]]}},"alternative-id":["s22187056"],"URL":"https:\/\/doi.org\/10.3390\/s22187056","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,9,18]]}}}