Abstract: Provided is a method of generating high definition maps, which can be used in autonomous driving. The method includes obtaining consecutive mapping data generated by a sensor installed on a vehicle at consecutive positions. The mapping data is used to generate range scan poses and GPS positions of the vehicle at the consecutive positions. The method further includes generating consecutive optimized poses of the vehicle at the consecutive positions according to the range scan poses and the GPS positions of the vehicle. A map is then generated by stitching the consecutive mapping data based on the optimized poses.