HD Maps from LiDAR Mobile Mapping Systems and Paris-Lille-3D dataset

Abstract

The precise map (or called HD Map) is a data recognized as essential in the problem of the autonomous vehicle. We will see how this map can be produced on large scale from mobile mapping systems and see what are the current limitations of this process. First, we will present what are the essential elements of the HD map. We will see then how the production of 3D point clouds from LiDAR based mobile systems responds to the localization problem for autonomous vehicles and how the same data could be used for the perception part. We will also present our work to create a dataset, called Paris-Lille-3D to improve the essentiel step of classification of 3D point clouds.