“…High-precision Map-based Localization: The proposed work belongs to the category of the high-precision mapbased localization [7,18,19,31,38,39,40,44]. The use of maps has been shown to not only provide strong cues for various tasks in computer vision and robotics such as scene understanding [34], vehicle detection [24], and localization [8,23,35], but also enables the creation of large-scale datasets with little human effort [33,36]. The general idea is to build a centimeter-level high-definition 3D map offline a priori, by stitching sensor input using a high-precision differential GNSS system and offline SLAM.…”