CROWD-SOURCING LANE LINE MAPS FOR A VEHICLE

A method for crowd-sourcing lane line map data for a vehicle may include receiving a plurality of observations. The plurality of observations includes at least a first observation and a second observation. The method further may include generating a point cloud alignment vector based at least in part on the plurality of observations. The method further may include generating an optimized aligned point cloud based at least in part on the point cloud alignment vector. The method further may include determining a lane line map based at least in part on the optimized aligned point cloud. The method further may include updating a map database based at least in part on the lane line map.