Vehicle self-localization using off-the-shelf sensors and a detailed map
Paper i 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.

Författare

Malin Lundgren

Signaler och system, Signalbehandling och medicinsk teknik, Signalbehandling

Erik Stenborg

Signaler och system, Signalbehandling och medicinsk teknik, Signalbehandling

Lennart Svensson

Signaler och system, Signalbehandling och medicinsk teknik, Signalbehandling

Lars Hammarstrand

Signaler och system, Signalbehandling och medicinsk teknik, Signalbehandling

IEEE Intelligent Vehicles Symposium, Proceedings

522-528 6856524

Ämneskategorier

Signalbehandling

DOI

10.1109/IVS.2014.6856524

ISBN

978-147993638-0