Dual-GPS fusion for automatic enhancement of digital OSM roadmaps

This paper presents a method to enhance digital OSM maps with roads inclination automatically. It relies on GPS data collected from two receivers. These data are fused with existing road map data by implementing the unscented Kalman filtering in a centralized scheme. We modeled the map data as a sensor that allows to account for its errors and uncertainties. The core of our method relies on a probabilistic map-matching approach that is used to manage the road network database through the computation of the Mahalanobis distance. We show experimental results from an extra-urban road network scenario in which the inclination of matched road segments is estimated to ensure a more reliable route planning.