NDLI: Topometric localization on a road network

Content Provider	IEEE Xplore Digital Library
Author	Danfei Xu Badino, H. Huber, D.
Copyright Year	2014
Description	Author affiliation: Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Danfei Xu; Badino, H.; Huber, D.)
Abstract	Current GPS-based devices have difficulty localizing in cases where the GPS signal is unavailable or insufficiently accurate. This paper presents an algorithm for localizing a vehicle on an arbitrary road network using vision, road curvature estimates, or a combination of both. The method uses an extension of topometric localization, which is a hybrid between topological and metric localization. The extension enables localization on a network of roads rather than just a single, non-branching route. The algorithm, which does not rely on GPS, is able to localize reliably in situations where GPS-based devices fail, including “urban canyons” in downtown areas and along ambiguous routes with parallel roads. We demonstrate the algorithm experimentally on several road networks in urban, suburban, and highway scenarios. We also evaluate the road curvature descriptor and show that it is effective when imagery is sparsely available.
Starting Page	3448
Ending Page	3455
File Size	1639435
Page Count	8
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6943043
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Roads Vehicles Visualization Databases Probability density function Global Positioning System Measurement
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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