METHOD AND APPARATUS FOR ENHANCED LANE LINE ATTRIBUTION

A method, apparatus and computer program product are provided for generating lane line attributions for point locations along a road boundary for use in localization, map building, and map healing. Methods may include: receiving a sequence of geospatial observations from a vehicle traveling along a road segment; identifying, within the sequence of geospatial observations, lane line marking observations; determining, from the lane line marking observations, discrete points along the lane line markings, where the discrete points along the lane line markings include end points of a respective lane line marking; establishing a location of the vehicle based, at least in part, on the discrete points along the lane line markings; and providing for at least one of navigational assistance or at least semi-autonomous vehicle control based on the location established.