vector-map-creation.md

Vector Map Creation

An image of created vector map

• lane center: blue arrow and lightblue area
• crosswalk: green arrow and white ladder
• stop line: black arrow and white area
• traffic light: red arrow

Visualizing styles can be customized like this

• pink: straight
• blue: turn left
• red: turn right

Without lanes for simplicity

Without aerial images

Autogeneration of features

Some relationships and features can be automatically generated using a preprocess script.
For example, lane boundaries and lane sections can be generated as below.

Visualization in RViz

You can visualize your map in RViz as well.