High-Definition Maps Construction Based on Visual Sensor: A Comprehensive Survey

• Published in: IEEE transactions on intelligent vehicles 2023, p.1-23
• Main Authors: Tang, Xuewei, Jiang, Kun, Yang, Mengmeng, Liu, Zhaoyang, Jia, Peijin, Wijaya, Benny, Wen, Tuopu, Cui, Le, Yang, Diange
• Format: Article
• Language: English
• Subjects: Autonomous driving; Autonomous vehicles; Cameras; high-definition maps; intelligent vehicle; Real-time systems; Semantics; Task analysis; Three-dimensional displays; Visualization
• ISSN: 2379-8858; 2379-8904
• DOI: 10.1109/TIV.2023.3336940

In recent years, the field of autonomous vehicles has seen a significant increase in academic research, with high-definition (HD) maps emerging as a critical component of autonomous driving technology. These maps provide intricate details of road networks and serve as a fundamental input for critical tasks such as vehicle positioning, navigation and decision making. Given the widespread availability and affordability of camera sensors, they have become an indispensable aspect of autonomous vehicles, justifying their focus in this review. The aim of this article is to provide researchers with a comprehensive overview and summary of recent advances in HD mapping. The review begins with a concise summary of the key frameworks and background information relevant to the creation of HD maps using camera sensors. This is followed by a comprehensive review of the research methods used for map production, including both offline and online approaches. In particular, network-based mapping methods have emerged as a prominent area of research in the field of HD mapping. In response to this burgeoning trend, this article presents a comprehensive and meticulous overview of the diverse research efforts in this particular field. Finally, the article addresses pertinent issues and future challenges with the aim of guiding researchers in understanding the current trends and methodologies prevalent in the field.