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

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Chalmers, Signals and Systems, Signal Processing and Biomedical Engineering

[Person 06f7d3b8-fc2b-4abe-a223-d164a7a1264c not found]

Chalmers, Signals and Systems, Signal Processing and Biomedical Engineering

[Person d098ffb2-ee61-4215-8e26-cb6bbdbfdee3 not found]

Chalmers, Signals and Systems, Signal Processing and Biomedical Engineering

[Person 21dd5d9a-0773-45ae-adfb-f24cca6c0b1f not found]

Chalmers, Signals and Systems, Signal Processing and Biomedical Engineering

IEEE Intelligent Vehicles Symposium, Proceedings

522-528 6856524
978-147993638-0 (ISBN)

Subject Categories

Signal Processing

DOI

10.1109/IVS.2014.6856524

ISBN

978-147993638-0

More information

Created

10/7/2017