Automated Lane-Level Road Geometry Estimation Using Microscopic Trajectory Data

Table 3

The estimation results in different lanes based on the UAV trajectory data.

ME/(m)	Lane 1	Lane 2	Lane 3
ME of the ground truth reference and lane center lane	0.087	0.035	0.160
ME of the estimation result and ground truth reference	0.021	0.022	0.011
ME of the estimation result and lane center lane	0.064	0.067	0.182