This paper presents a self-localization concept for road vehicles using only a mono camera as sensor. It employs a particle filter to estimate the global position based on a digital map of lane markings. A grid map is used to smoothen the lane marking detections. This approach is compared to an approach that does not rely on a grid map as an intermediate stage. Results obtained on real world data show improvements of the localization accuracy when a grid map is employed. Furthermore, a method to create digital maps of lane markings is presented.


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    Titel :

    Improving localization in digital maps with grid maps


    Beteiligte:
    Deusch, Hendrik (Autor:in) / Nuss, Dominik (Autor:in) / Konrad, Paul (Autor:in) / Konrad, Marcus (Autor:in) / Fritzsche, Martin (Autor:in) / Dietmayer, Klaus (Autor:in)


    Erscheinungsdatum :

    01.10.2013


    Format / Umfang :

    1273833 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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