Ahigh-definition map (HD map) is a highly accurate map used primarily in the field of autonomous driving,[1] [2] containing details not normally present on traditional maps.[3][4] HD maps are often captured using an array of sensors, such as LiDARs, radars, digital cameras, and GPS.[3][5][6], and they can also be constructed using aerial imagery.[7][8] Such maps can be precise at a centimetre level.[3][9]
High-definition maps for self-driving cars usually include map elements such as road shape, road marking, traffic signs, and barriers.[4][10] Maintaining high accuracy is one of the biggest challenges in building HD maps of real-world roads. With regard to accuracy, there are two main focus points that determine the quality of an HD map:
In areas with good GPS reception it is possible to achieve a global accuracy of less than 3 cm deviation using satellite signals and correction data from base stations.
In GPS-denied areas, however, inaccuracy rises with distance traveled through the area, being largest in its middle. This means that the maximum GPS error can be expressed as a percentage of the distance traveled through a GPS-denied area: this value is less than 0.5%.[11]
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