Lossless Watermarking Algorithm for High-Precision Maps Based on Lane Storage Order.

As an important infrastructure for autonomous driving, high-precision maps play a crucial role in promoting the development of autonomous driving. Their high precision and commercial value also make the security and copyright issues of high-precision maps in sharing undeniable. This paper proposes a lossless digital watermarking algorithm suitable for high-precision maps based on the order of lane storage. Firstly, by utilizing the characteristic that lane storage order transformation does not affect data accuracy, a mapping relationship between lane storage and watermark bits is established. Then, the connectivity relationships between high-precision map elements are classified to group the lanes and establish their mapping relationship with the watermark index. Finally, the storage features and connectivity of the lanes are utilized to obtain watermark bits and watermark indexes for the watermark embedding. Using OpenDRIVE map data as experimental data for algorithm verification, the results show that the algorithm can fully achieve the lossless accuracy of high-precision maps, and can resist attacks such as translation, rotation, scaling, and cropping. It has good robustness and can provide reliable technical support for copyright protection of high-precision maps. [ABSTRACT FROM AUTHOR]