Road object detection for HD map: Full-element survey, analysis and perspectives

As the key part of autonomous driving (AD), High-Definition (HD) map provides more precise location and rich semantic information than the traditional map. With the development of AD, it is eager to construct HD map accurately and efficiently. Road scene perception, especially the road object detection, plays important role in HD map generation. Recently, numerous methods have been undertaken for different tasks in constructing HD maps. To stimulate further research, this paper presents a comprehensive review of recent progress in road surface's information extraction and road object detection. For road surface information extraction, it covers three main categories: road pavement, marking and line. For road object detection, it focuses on the full-element road object detection, including sign-objects, pole-like objects, guardrails, street trees and moving objects detection. In addition, the common public datasets and corresponding results are provided. Besides, for the future research directions, we also summarize the current development trends and topics.