Intersection representation enhacement by sensorial data and digital map alignment

Alignment of the stereo perception outcomes with the GPS based digital map information is the main goal of this paper. This alignment relies on discriminative sensorial landmarks as stop lines or lane markings and augmented GPS maps. The alignment is needed to provide: an increased accuracy global localization of the static and dynamic detected entities; fusion of the perceived sensorial information with the map information for filling in the gaps or for increasing the accuracy of the perceived information, generating an enhanced representation of the intersection.