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

Table 6

Table of localization performance before and after map update.

Experiments	Longitudinal (m)		Lateral (m)		Heading (°)
	95%: 0.15	Max: 0.44	95%: 0.15	Max: 0.44	95%: 0.17	Max: 0.5
Before map update	0.2299	0.36875	0.28506	0.66626	0.41892	0.94196
After map update	0.11053	0.17868	0.14431	0.20133	0.13136	0.20966