Precise Vehicle Position and Heading Estimation Using a Binary Road Marking Map

Table 1

Comparison of map size.

Grid resolution	Probability map	Binary map	Binary map (sparse matrix)
15 cm	62 MB	986 kB	245 kB
10 cm	106 MB	2.01 MB	450 kB
5 cm	384 MB	7.83 MB	1.21 MB