B${}^2$F-Map: Crowd-sourced Mapping with Bayesian B-spline Fusion

Abstract

Crowd-sourced mapping offers a scalable alternative to creating maps using traditional survey vehicles. Yet, existing methods either rely on prior high-definition (HD) maps or neglect uncertainties in the map fusion. In this work, we present a complete pipeline for HD map generation using production vehicles equipped only with a monocular camera, consumer-grade GNSS, and IMU. Our approach includes on-cloud localization using lightweight standard-definition maps, on-vehicle mapping via an extended object trajectory (EOT) Poisson multi-Bernoulli (PMB) filter with Gibbs sampling, and on-cloud multi-drive optimization and Bayesian map fusion. We represent the lane lines using B-splines, where each B-spline is parameterized by a sequence of Gaussian distributed control points, and propose a novel Bayesian fusion framework for B-spline trajectories with differing density representation, enabling principled handling of uncertainties. We evaluate our proposed approach, B${}^2$F-Map, on large-scale real-world datasets collected across diverse driving conditions and demonstrate that our method is able to produce geometrically consistent lane-level maps.

Accepted to ICRA 2026