METHOD, APPARATUS, AND COMPUTER PROGRAM PRODUCT FOR BUILDING A HIGH DEFINITION MAP FROM CROWD SOURCED DATA

A method, apparatus and computer program product are provided for constructing a high definition map from crowd sourced data using semantic attributes to bootstrap map construction. Methods may include: receiving first sensor data from a first vehicle having traversed a first path along a first lane of a first road segment; identifying features from the first sensor data of the first road segment; receiving second sensor data from a second vehicle having traversed a second path along a second lane of the first road segment; identifying features from the second sensor data of the first road segment; aligning the identified features from the second sensor data with the identified features from the first sensor data of the first road segment; and combining the identified features from the first sensor data and the second sensor data based, at least in part, on the confidence of the respective sensor data.