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http://dx.doi.org/10.5302/J.ICROS.2016.16.0109

An Improved Position Estimation Algorithm of Vehicles Using Semantic Information of Maps  

Lee, Chang Gil (Department of Electrical and Electronic Engineering, Yonsei University)
Choi, Yoon Ho (Department of Electronic Engineering, Kyonggi University)
Park, Jin Bae (Department of Electrical and Electronic Engineering, Yonsei University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.9, 2016 , pp. 753-758 More about this Journal
Abstract
In this paper, we propose a novel method for estimating a vehicle's current position, even on roads that have similar patterns. In the proposed method, we classified the semantic information of the nodes in detail and added the semantic information of the link to solve the problem due to similar and repeated patterns. We also improved the mapping method by comparing the result of the duplicated matching with that of the only matching obtained just before corresponding duplicated matching. From the simulation results, we verify that the performance of the proposed method is better than that of the existing method.
Keywords
map matching graph; VF2 algorithm; localization method; UGV (Unmanned Ground Vehicle); semantic information;
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Times Cited By KSCI : 1  (Citation Analysis)
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