Method and arrangement for sourcing of location information, generating and updating maps representing the location

Arrangement for sourcing of location information, generating and updating maps representing the location, comprising:

• a communication interface for receiving, from at least two road vehicle passages at the location, vehicle registered data on the surrounding environment from environment sensors and positioning data from consumer-grade satellite positioning arrangements and from at least one of an inertial measurement unit and a wheel speed sensor;
• and
• processing means including software for, when executed by the processing means, performing the following:
• smoothing of the positioning data to establish continuous trajectories for the respective vehicles;
• creating individual surrounding environment maps using the data on the surrounding environment and the smoothed positioning data from each respective vehicle passage at the location;
• identifying, from the individual surrounding environment maps, submaps sharing area segments;
• cross-correlating pairs of submaps sharing area segments;
• using the information from the pairwise cross-correlation of submaps to optimize each submaps offset relative a full map of the surrounding environment;
• merging the submaps into the full map of the surrounding environment.