Vehicle self-localization using off-the-shelf sensors and a detailed map
Paper in proceedings, 2014

In the research on autonomous vehicles, self-localization is an important problem to solve. In this paper we present a localization algorithm based on a map and a set of off-the-shelf sensors, with the purpose of evaluating this low-cost solution with respect to localization performance. The used test vehicle is equipped with a Global Positioning System receiver, a gyroscope, wheel speed sensors, a camera providing information about lane markings, and a radar detecting landmarks along the road. Evaluation shows that the localization result is within or close to the requirements for autonomous driving when lane markers and good radar landmarks are present. However, it also indicates that the solution is not robust enough to handle situations when one of these information sources is absent.

Author

Malin Lundgren

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

Erik Stenborg

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

Lennart Svensson

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

Lars Hammarstrand

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

IEEE Intelligent Vehicles Symposium, Proceedings

522-528 6856524

Subject Categories

Signal Processing

DOI

10.1109/IVS.2014.6856524

ISBN

978-147993638-0

More information

Created

10/7/2017