Cloud Update of Geodetic Normal Distribution Map Based on Crowd-Sourcing Detection against Road Environment Changes

Table 1

Categorization for researches of LiDAR map update.

Agent	Map type	Methodology	Research
Standalone	PCD	Change detection/update	[29–34]
	Grid	Instant map update	[35–37]
	NDT	Change detection/update	[40]
		Instant map update	[41–43]
Crowd-sourcing	PCD	Change detection/update	[44, 45]
	Grid	Map merging	[46–49]