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http://dx.doi.org/10.7780/kjrs.2018.34.6.1.22

Development of a Vehicle Positioning Algorithm Using Reference Images  

Kim, Hojun (Department of Geoinformatics, University of Seoul)
Lee, Impyeong (Department of Geoinformatics, University of Seoul)
Publication Information
Korean Journal of Remote Sensing / v.34, no.6_1, 2018 , pp. 1131-1142 More about this Journal
Abstract
The autonomous vehicles are being developed and operated widely because of the advantages of reducing the traffic accident and saving time and cost for driving. The vehicle localization is an essential component for autonomous vehicle operation. In this paper, localization algorithm based on sensor fusion is developed for cost-effective localization using in-vehicle sensors, GNSS, an image sensor and reference images that made in advance. Information of the reference images can overcome the limitation of the low positioning accuracy that occurs when only the sensor information is used. And it also can acquire estimated result of stable position even if the car is located in the satellite signal blockage area. The particle filter is used for sensor fusion that can reflect various probability density distributions of individual sensors. For evaluating the performance of the algorithm, a data acquisition system was built and the driving data and the reference image data were acquired. Finally, we can verify that the vehicle positioning can be performed with an accuracy of about 0.7 m when the route image and the reference image information are integrated with the route path having a relatively large error by the satellite sensor.
Keywords
Localization; Particle Filter; Autonomous Car; Reference Images; Sensor Fusion;
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Times Cited By KSCI : 1  (Citation Analysis)
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