{"id":"https://openalex.org/W4296366287","doi":"https://doi.org/10.3390/s22187056","title":"Tutorial on High-Definition Map Generation for Automated Driving in Urban Environments","display_name":"Tutorial on High-Definition Map Generation for Automated Driving in Urban Environments","publication_year":2022,"publication_date":"2022-09-18","ids":{"openalex":"https://openalex.org/W4296366287","doi":"https://doi.org/10.3390/s22187056","pmid":"https://pubmed.ncbi.nlm.nih.gov/36146405"},"language":"en","primary_location":{"id":"doi:10.3390/s22187056","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22187056","pdf_url":"https://www.mdpi.com/1424-8220/22/18/7056/pdf?version=1663755240","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/22/18/7056/pdf?version=1663755240","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101524932","display_name":"Jinseop Jeong","orcid":"https://orcid.org/0009-0008-7388-4907"},"institutions":[{"id":"https://openalex.org/I152238500","display_name":"Chosun University","ror":"https://ror.org/01zt9a375","country_code":"KR","type":"education","lineage":["https://openalex.org/I152238500"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinseop Jeong","raw_affiliation_strings":["School of Mechanical System and Automotive Engineering, Chosun University, Gwangju 61452, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical System and Automotive Engineering, Chosun University, Gwangju 61452, Korea","institution_ids":["https://openalex.org/I152238500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080847756","display_name":"Jun Yong Yoon","orcid":null},"institutions":[{"id":"https://openalex.org/I152238500","display_name":"Chosun University","ror":"https://ror.org/01zt9a375","country_code":"KR","type":"education","lineage":["https://openalex.org/I152238500"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun Yong Yoon","raw_affiliation_strings":["School of Mechanical System and Automotive Engineering, Chosun University, Gwangju 61452, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical System and Automotive Engineering, Chosun University, Gwangju 61452, Korea","institution_ids":["https://openalex.org/I152238500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055484248","display_name":"Hwanhong Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I152238500","display_name":"Chosun University","ror":"https://ror.org/01zt9a375","country_code":"KR","type":"education","lineage":["https://openalex.org/I152238500"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hwanhong Lee","raw_affiliation_strings":["School of Mechanical System and Automotive Engineering, Chosun University, Gwangju 61452, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical System and Automotive Engineering, Chosun University, Gwangju 61452, Korea","institution_ids":["https://openalex.org/I152238500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036004096","display_name":"Hatem Darweesh","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hatem Darweesh","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041482703","display_name":"Woosuk Sung","orcid":null},"institutions":[{"id":"https://openalex.org/I152238500","display_name":"Chosun University","ror":"https://ror.org/01zt9a375","country_code":"KR","type":"education","lineage":["https://openalex.org/I152238500"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Woosuk Sung","raw_affiliation_strings":["School of Mechanical System and Automotive Engineering, Chosun University, Gwangju 61452, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical System and Automotive Engineering, Chosun University, Gwangju 61452, Korea","institution_ids":["https://openalex.org/I152238500"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5041482703"],"corresponding_institution_ids":["https://openalex.org/I152238500"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":1.1305,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.74495442,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"22","issue":"18","first_page":"7056","last_page":"7056"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.686600923538208},{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.5892841219902039},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5639481544494629},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5115886330604553},{"id":"https://openalex.org/keywords/upload","display_name":"Upload","score":0.5063399076461792},{"id":"https://openalex.org/keywords/vector-map","display_name":"Vector map","score":0.48199906945228577},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.46215158700942993},{"id":"https://openalex.org/keywords/road-map","display_name":"Road map","score":0.45943138003349304},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.434670090675354},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.417497843503952},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41594475507736206},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36574798822402954},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34353893995285034},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.1766723096370697},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15457791090011597},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14037004113197327},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.12137764692306519},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.11874529719352722},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07688739895820618}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.686600923538208},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.5892841219902039},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5639481544494629},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5115886330604553},{"id":"https://openalex.org/C71901391","wikidata":"https://www.wikidata.org/wiki/Q7126699","display_name":"Upload","level":2,"score":0.5063399076461792},{"id":"https://openalex.org/C177292542","wikidata":"https://www.wikidata.org/wiki/Q440959","display_name":"Vector map","level":2,"score":0.48199906945228577},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.46215158700942993},{"id":"https://openalex.org/C188048851","wikidata":"https://www.wikidata.org/wiki/Q2298569","display_name":"Road map","level":2,"score":0.45943138003349304},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.434670090675354},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.417497843503952},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41594475507736206},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36574798822402954},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34353893995285034},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.1766723096370697},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15457791090011597},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14037004113197327},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.12137764692306519},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.11874529719352722},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07688739895820618},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s22187056","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22187056","pdf_url":"https://www.mdpi.com/1424-8220/22/18/7056/pdf?version=1663755240","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:36146405","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36146405","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:9503031","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9503031","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:5ba1f90366e64308b1fcccfe7d784bc0","is_oa":true,"landing_page_url":"https://doaj.org/article/5ba1f90366e64308b1fcccfe7d784bc0","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 22, Iss 18, p 7056 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/18/7056/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22187056","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 22; Issue 18; Pages: 7056","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s22187056","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22187056","pdf_url":"https://www.mdpi.com/1424-8220/22/18/7056/pdf?version=1663755240","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6899999976158142,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321199","display_name":"Chosun University","ror":"https://ror.org/01zt9a375"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2145178709","https://openalex.org/W2747333411","https://openalex.org/W2952762354","https://openalex.org/W2971092880","https://openalex.org/W2973915204","https://openalex.org/W2991414358","https://openalex.org/W2994287696","https://openalex.org/W3081156096","https://openalex.org/W3090063992","https://openalex.org/W3117590843","https://openalex.org/W4200123167","https://openalex.org/W4205331580","https://openalex.org/W6745935785","https://openalex.org/W6771705403","https://openalex.org/W6784158349"],"related_works":["https://openalex.org/W2045545917","https://openalex.org/W4200375115","https://openalex.org/W2139975783","https://openalex.org/W2890986599","https://openalex.org/W2011342148","https://openalex.org/W3127910648","https://openalex.org/W4387818953","https://openalex.org/W2081562737","https://openalex.org/W2361112216","https://openalex.org/W1545626634"],"abstract_inverted_index":{"High-definition":[0],"(HD)":[1],"mapping":[2,100],"is":[3,26,63,164],"a":[4,57,67,73],"promising":[5],"approach":[6],"to":[7,19,40,179],"realize":[8],"highly":[9],"automated":[10],"driving":[11,58],"(AD).":[12],"Although":[13],"HD":[14,35,61,88,129,152,174],"maps":[15,36,130,153,175],"can":[16],"be":[17],"applied":[18],"all":[20],"levels":[21,31],"of":[22,45,47,119],"autonomy,":[23],"their":[24],"use":[25],"particularly":[27],"beneficial":[28],"for":[29,70,76,104,169],"autonomy":[30],"4":[32,184],"or":[33],"higher.":[34],"enable":[37,176],"AD":[38,170],"systems":[39],"see":[41],"beyond":[42],"the":[43,93,97,106,114,117],"field":[44],"view":[46],"conventional":[48],"sensors,":[49],"thereby":[50],"providing":[51],"accurate":[52],"and":[53,72,99,108,126,140,158],"detailed":[54],"information":[55],"regarding":[56],"environment.":[59],"An":[60],"map":[62,69,75,89],"typically":[64,132],"separated":[65],"into":[66],"pointcloud":[68,107],"localization":[71,157],"vector":[74,109],"path":[77],"planning.":[78],"In":[79],"this":[80,148],"paper,":[81],"we":[82],"introduce":[83],"two":[84,121],"separate":[85],"but":[86],"successive":[87],"generation":[90],"workflows.":[91],"Of":[92],"several":[94],"stages":[95,122],"involved,":[96],"registration":[98],"processes":[101,118],"are":[102,131,145,154],"essential":[103],"creating":[105],"maps,":[110],"respectively.":[111],"To":[112],"facilitate":[113],"readers'":[115],"understanding,":[116],"these":[120],"have":[123],"been":[124],"recorded":[125],"uploaded":[127],"online.":[128],"generated":[133,151,173],"using":[134],"open-source":[135],"software":[136],"(OSS)":[137],"tools.":[138],"CloudCompare":[139],"ASSURE,":[141],"as":[142],"representative":[143],"tools,":[144],"used":[146],"in":[147,161],"study.":[149],"The":[150,172],"validated":[155],"with":[156],"path-planning":[159],"modules":[160],"Autoware,":[162],"which":[163],"also":[165],"an":[166],"OSS":[167],"stack":[168],"systems.":[171],"environmental-monitoring":[177],"vehicles":[178],"successfully":[180],"operate":[181],"at":[182],"level":[183],"autonomy.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}