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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Lane marking aided vehicle localization


    Contributors:
    Tao, Z. (author) / Bonnifait, Ph. (author) / Fremont, V. (author) / Ibanez-Guzman, J. (author)


    Publication date :

    2013-10-01


    Size :

    1491641 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    LANE MARKING LOCALIZATION

    WANG MINGDONG / QIAN CHENZHE / MEI XUE | European Patent Office | 2019

    Free access

    LANE MARKING LOCALIZATION

    WANG MINGDONG / QIAN CHENZHE / MEI XUE | European Patent Office | 2020

    Free access

    VEHICLE LANE MARKING DETECTION SYSTEM

    KOBASHI ATSUHIDE / OSTAFEW CHRISTOPHER | European Patent Office | 2023

    Free access

    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 | European Patent Office | 2022

    Free access