Feature Evaluation of Factorized Self-localization

Localization on a digital map is a crucial point for many advanced driver assistance systems that make use of digital map data. State of the art work mainly relies on inaccurate Global Positioning System (GPS) measurements, special and costly sensors or especially attributed digital maps. In contrast to that, this work presents a localization algorithm with in-vehicle available sensors and a standard navigation map. A factorized state estimation that computes position and orientation with separate features allows accurate and reliable positioning. This work thereto proposes correlation-based features that match road curvatures of digital map and sensor data for position estimation. The vehicle orientation on the digital map can then be computed by either matching an egomotion trajectory to the digital map road geometry or by using an optical lane recognition system. Sensitive parameters of this approach are thoroughly evaluated with a highly precise Differential Global Positioning System (DGPS) reference system.

• Record URL:
  • https://doi.org/10.1109/ITSC.2014.6957731
• Availability:
  • Find a library where document is available. Order URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=6948869
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Corporate Authors:

  Institute of Electrical and Electronics Engineers (IEEE)

  3 Park Avenue, 17th Floor
  New York, NY  United States  10016-5997
• Authors:
  • Schule, F
  • Buchner, F
  • Schweiger, R
  • Dietmayer, K
• Conference:
  • 17th International IEEE Conference on Intelligent Transportation Systems (ITSC14)
  • Location: Qingdao , China
  • Date: 2014-10-8 to 2014-10-11
• Publication Date: 2014-10

Language

• English

Media Info

• Media Type: Web
• Pagination: pp 451-457
• Monograph Title: 17th International IEEE Conference on Intelligent Transportation Systems (ITSC14)

Subject/Index Terms

• TRT Terms: Digital maps; Driver information systems; Driver support systems; Global Positioning System; Sensors; State of the art; Trajectory
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01562627
• Record Type: Publication
• Files: TRIS
• Created Date: Apr 30 2015 12:03PM