Accurately and precisely knowing the location of the vehicle is a critical requirement for safe and successful autonomous driving. Recent studies suggest that error for map-based localization methods are tightly coupled with the surrounding environment. Considering this relationship, it is therefore possible to estimate localization error by quantifying the representation and layout of real-world phenomena. To date, existing work on estimating localization error have been limited to using self-collected 3D point cloud maps. This paper investigates the use of pre-existing 2D geographic information datasets as a proxy to estimate autonomous vehicle localization error. Seven map evaluation factors were defined for 2D geographic information in a vector format, and random forest regression was used to estimate localization error for five experiment paths in Shinjuku, Tokyo. In the best model, the results show that it is possible to estimate autonomous vehicle localization error with 69.8% of predictions within 2.5 cm and 87.4% within 5 cm.

Keywords: 3D GIS; 3D geoinformation; geometric complexity; 3D data quality; 3D fitness-for-purpose; 3D city models Three-dimensional geospatial information is being increasingly used in a range of tasks beyond visualisation. 3D datasets, however, are often being produced without exact specifications and at mixed levels of geometric complexity. This leads to variations within the models’ geometric and semantic complexity as well as the degree of deviation from the corresponding real world objects. Existing descriptors and measures of 3D data such as CityGML’s level of detail are perhaps only partially sufficient in communicating data quality and fitness-for-purpose. This study investigates whether alternative, automated, geometry-based metrics describing the variation of complexity within 3D datasets could provide additional relevant information as part of a process of fitness-for-purpose evaluation. The metrics include: mean vertex/edge/face counts per building; vertex/face ratio; minimum 2D footprint area and; minimum feature length. Each metric was tested on six 3D city models from international locations. The results show that geometry-based metrics can provide additional information on 3D city models as part of fitness-for-purpose evaluations. The metrics, while they cannot be used in isolation, may provide a complement to enhance existing data descriptors if backed up with local knowledge, where possible.