# Bayesian Simultaneous Localization and Multi-Lane Tracking Using Onboard Sensors and a SD Map

arXiv: https://arxiv.org/abs/2405.04290 · HTML: https://mlsanity.com/paper/2405.04290/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 May 2024.

## Built on by (most cited first, 1 of 1)

- [Driving with Context: Online Map Matching for Complex Roads Using Lane Markings and Scenario Recognition](https://mlsanity.com/paper/2505.05007/) (2025)

## Abstract (arXiv)

High-definition map with accurate lane-level information is crucial for autonomous driving, but the creation of these maps is a resource-intensive process. To this end, we present a cost-effective solution to create lane-level roadmaps using only the global navigation satellite system (GNSS) and a camera on customer vehicles. Our proposed solution utilizes a prior standard-definition (SD) map, GNSS measurements, visual odometry, and lane marking edge detection points, to simultaneously estimate the vehicle's 6D pose, its position within a SD map, and also the 3D geometry of traffic lines. This is achieved using a Bayesian simultaneous localization and multi-object tracking filter, where the estimation of traffic lines is formulated as a multiple extended object tracking problem, solved using a trajectory Poisson multi-Bernoulli mixture (TPMBM) filter. In TPMBM filtering, traffic lines are modeled using B-spline trajectories, and each trajectory is parameterized by a sequence of control points. The proposed solution has been evaluated using experimental data collected by a test vehicle driving on highway. Preliminary results show that the traffic line estimates, overlaid on the satellite image, generally align with the lane markings up to some lateral offsets.