A Review on End-to-End High-Definition Map Generation

Abstract

Abstract. Autonomous driving offers benefits such as congestion mitigation, increased productivity through the reallocation of driving time, and decreased energy waste. However, achieving Level 4 and 5 autonomous driving remains a significant challenge for both academia and industry. Among the various modules of autonomous driving, High-Definition (HD) maps have become a crucial component due to their high precision in map elements, enabling accurate localization, scene interpretation, navigation, vehicle control and motion forecasting of trajectory of surrounding objects. Several map providers, including TomTom, HERE, Waymo, and NVIDIA, create HD maps for their specific purposes. However, most HD map datasets are not publicly available for individual researchers and companies to investigate the current trends in HD map generation. Furthermore, recent survey papers on HD map generation have tended to focus only on specific aspects, such as road topology or boundary extraction, rather than considering the overall end-to-end HD map generation process. Therefore, we begin with a brief definition, standards, and functionality of HD maps, followed by an exploration of different types of HD maps, including offline and online variants, highlighting their respective advantages and disadvantages. Finally, we will discuss the most recent end-to-end HD map generation architectures, along with various types of open-source HD map datasets and compare their performances.