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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Tao, Z. Bonnifait, P. Fremont, V. Ibanez-Guzman, J. |
| Copyright Year | 2013 |
| Description | Author affiliation: Renault S.A.S., Guyancourt, France (Ibanez-Guzman, J.) || Univ. de Technol. de Compiegne (UTC), Compiegne, France (Tao, Z.; Bonnifait, P.; Fremont, V.) |
| Abstract | A localization system that exploits L1-GPS estimates, vehicle data, and features from a video camera as well as lane markings embedded in digital navigation maps is presented. A sensitivity analysis of the detected lane markings is proposed in order to quantify both the lateral and longitudinal errors caused by 2D-world hypothesis violation. From this, a camera observation model for vehicle localization is proposed. The paper presents also a method to build a map of the lane markings in a first stage. The solver is based on dynamical Kalman filtering with a two-stage map-matching process which is described in details. This is a software-based solution using existing automotive components. Experimental results in urban conditions demonstrate an significant increase in the positioning quality. |
| Sponsorship | IEEE Intell.Transp. Syst. Soc. |
| Starting Page | 1509 |
| Ending Page | 1515 |
| File Size | 1491641 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781479929146 |
| DOI | 10.1109/ITSC.2013.6728444 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-10-06 |
| Publisher Place | Netherlands |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Cameras Vehicles Roads Accuracy Global Positioning System Shape |
| Content Type | Text |
| Resource Type | Article |
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