Updating road network databases using GNSS

This paper presents a method to detect missing roads and to update GIS map databases from GPS data. It relies on an extended Kalman filter that fuses, in a centralized fusion scheme, available GPS and road map data. The map is modeled as an additional sensor which allows a direct modeling of the map errors and uncertainties. A probabilistic map-matching algorithm is used to manage the road network database through the computation of the Mahalanobis distance. We show experimental results from an urban transport network scenario where roads are missing, due to an outdated database.