RLE	Road Layout Estimation
CNN	Convolutional neural network
DNN	Deep neural network
GNSS	Global navigation satellite system
INS	Inertial navigation system
NLOS	Non-line-of-sight
LIDAR	Light detection and ranging
SGBM	Semi-global block matching
IoU	Intersection over union
ICP	Iterative closest point
OSM	OpenStreetMap
PC	Point Cloud
LC	Layout component
LH	Layout hypothesis
GT	Ground truth