# Leveraging GNSS and Onboard Visual Data from Consumer Vehicles for Robust Road Network Estimation

arXiv: https://arxiv.org/abs/2408.01640 · HTML: https://mlsanity.com/paper/2408.01640/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 19 of its 44 references that are in the map.
- First posted on arXiv 3 Aug 2024.

## Builds on (most cited first, 19 of 19)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [TransUNet: Transformers Make Strong Encoders for Medical Image Segmentation](https://mlsanity.com/paper/2102.04306/) (2021)
- [Bottleneck Transformers for Visual Recognition](https://mlsanity.com/paper/2101.11605/) (2021)
- [Road Extraction by Deep Residual U-Net](https://mlsanity.com/paper/1711.10684/) (2017)
- [LinkNet: Exploiting Encoder Representations for Efficient Semantic Segmentation](https://mlsanity.com/paper/1707.03718/) (2017)
- [Sat2Graph: Road Graph Extraction through Graph-Tensor Encoding](https://mlsanity.com/paper/2007.09547/) (2020)
- [Lane Graph as Path: Continuity-preserving Path-wise Modeling for Online Lane Graph Construction](https://mlsanity.com/paper/2303.08815/) (2023)
- [RNGDet: Road Network Graph Detection by Transformer in Aerial Images](https://mlsanity.com/paper/2202.07824/) (2022)
- [RNGDet++: Road Network Graph Detection by Transformer with Instance Segmentation and Multi-scale Features Enhancement](https://mlsanity.com/paper/2209.10150/) (2022)
- [Leveraging Crowdsourced GPS Data for Road Extraction from Aerial Imagery](https://mlsanity.com/paper/1905.01447/) (2019)
- [iCurb: Imitation Learning-based Detection of Road Curbs using Aerial Images for Autonomous Driving](https://mlsanity.com/paper/2103.17118/) (2021)
- [SPIN Road Mapper: Extracting Roads from Aerial Images via Spatial and Interaction Space Graph Reasoning for Autonomous Driving](https://mlsanity.com/paper/2109.07701/) (2021)
- [CenterLineDet: CenterLine Graph Detection for Road Lanes with Vehicle-mounted Sensors by Transformer for HD Map Generation](https://mlsanity.com/paper/2209.07734/) (2022)
- [csBoundary: City-scale Road-boundary Detection in Aerial Images for High-definition Maps](https://mlsanity.com/paper/2111.06020/) (2021)
- [CP-loss: Connectivity-preserving Loss for Road Curb Detection in Autonomous Driving with Aerial Images](https://mlsanity.com/paper/2107.11920/) (2021)
- [Aerial Images Meet Crowdsourced Trajectories: A New Approach to Robust Road Extraction](https://mlsanity.com/paper/2111.15119/) (2021)
- [PaRK-Detect: Towards Efficient Multi-Task Satellite Imagery Road Extraction via Patch-Wise Keypoints Detection](https://mlsanity.com/paper/2302.13263/) (2023)

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

- [Coherent Online Road Topology Estimation and Reasoning with Standard-Definition Maps](https://mlsanity.com/paper/2507.01397/) (2025)

## Abstract (arXiv)

Maps are essential for diverse applications, such as vehicle navigation and autonomous robotics. Both require spatial models for effective route planning and localization. This paper addresses the challenge of road graph construction for autonomous vehicles. Despite recent advances, creating a road graph remains labor-intensive and has yet to achieve full automation. The goal of this paper is to generate such graphs automatically and accurately. Modern cars are equipped with onboard sensors used for today's advanced driver assistance systems like lane keeping. We propose using global navigation satellite system (GNSS) traces and basic image data acquired from these standard sensors in consumer vehicles to estimate road-level maps with minimal effort. We exploit the spatial information in the data by framing the problem as a road centerline semantic segmentation task using a convolutional neural network. We also utilize the data's time series nature to refine the neural network's output by using map matching. We implemented and evaluated our method using a fleet of real consumer vehicles, only using the deployed onboard sensors. Our evaluation demonstrates that our approach not only matches existing methods on simpler road configurations but also significantly outperforms them on more complex road geometries and topologies. This work received the 2023 Woven by Toyota Invention Award.