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preprocessing.md

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Preprocessing

Overview

  • different levels of detail (LOD) between lanelet2 and OpenStreetMap

  • lanelet2 map shows road network with lane-level accuracy (lanelets wit boundaries, turning lanes etc.)

  • OpenStreetMap summarizes all lanes on a single road to one linestring

  • images below show road representation of lanelet2 (black) and OpenStreetMap (orange) exemplary for an intersection and a highway exit
    image image
    Comparison of the LOD between lanelet2 and OpenStreetMap for an intersection

  • preprocessing step of algorithm collapses adjacent lanelets of lanelet map to centerlines

  • centerlines are topologically connected based on the followers/predeccessors of the lanelets they represent

  • the lanelets a centerline represents are stored in the centerline by their ids

  • images below show the results of the preprocessing step; blue lines indicate new centerlines (text boxes represent their attributes)
    image image
    Difference between the LOD after preprocessing