Quickly Map Renewal through IPM-based Image Matching with High-Definition Map

Duk Jung Kim, Won Jong Lee, Gi Chang Kim, Yun Soo Choi

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


In autonomous driving, road markings are an essential element for object tracking, path planning and they are able to provide important information for localization. This paper presents an approach to update and measure road surface markers with HD maps as well as matching using inverse perspective mapping. The IPM removes perspective effects from the vehicle’s front camera image and remaps them to the 2D domain to create a bird-view region to fit with HD map regions. In addition, letters and arrows such as stop lines, crosswalks, dotted lines, and straight lines are recognized and compared to objects on the HD map to determine whether they are updated. The localization of a newly installed object can be obtained by referring to the measurement value of the surrounding object on the HD map. Therefore, we are able to obtain high accuracy update results with very low computational costs and low-cost cameras and GNSS/INS sensors alone.

Original languageEnglish
Pages (from-to)1163-1175
Number of pages13
JournalKorean Journal of Remote Sensing
Issue number5
StatePublished - 2021


  • GNSS
  • HD map
  • INS
  • IPM
  • Localization
  • Map update


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