A localization system that exploits L1-GPS estimates, vehicle data, and features from a video camera as well as lane markings embedded in digital navigation maps is presented. A sensitivity analysis of the detected lane markings is proposed in order to quantify both the lateral and longitudinal errors caused by 2D-world hypothesis violation. From this, a camera observation model for vehicle localization is proposed. The paper presents also a method to build a map of the lane markings in a first stage. The solver is based on dynamical Kalman filtering with a two-stage map-matching process which is described in details. This is a software-based solution using existing automotive components. Experimental results in urban conditions demonstrate an significant increase in the positioning quality.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Lane marking aided vehicle localization


    Beteiligte:
    Tao, Z. (Autor:in) / Bonnifait, Ph. (Autor:in) / Fremont, V. (Autor:in) / Ibanez-Guzman, J. (Autor:in)


    Erscheinungsdatum :

    01.10.2013


    Format / Umfang :

    1491641 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    LANE MARKING LOCALIZATION

    WANG MINGDONG / QIAN CHENZHE / MEI XUE | Europäisches Patentamt | 2019

    Freier Zugriff

    LANE MARKING LOCALIZATION

    WANG MINGDONG / QIAN CHENZHE / MEI XUE | Europäisches Patentamt | 2020

    Freier Zugriff

    VEHICLE LANE MARKING DETECTION SYSTEM

    KOBASHI ATSUHIDE / OSTAFEW CHRISTOPHER | Europäisches Patentamt | 2023

    Freier Zugriff

    Lane marking based vehicle localization using particle filter and multi-kernel estimation

    Lu, Wenjie / Seignez, Emmanuel / Rodriguez, F. Sergio A. et al. | IEEE | 2014


    LANE MARKING RECOGNITION DEVICE FOR VEHICLE

    TSUKAGOSHI HAJIME / HAJIKA RYO | Europäisches Patentamt | 2022

    Freier Zugriff