Localization of ego-vehicle is one of the most important technologies for autonomous driving. GNSS/INS systems, which integrate GNSS position and inertial measurement, are very useful for autonomous driving, since the system always estimate smooth and real-time measurement. However, there was a problem that the system produces significant drift after long GNSS signal outage. Therefore, we propose a localization method using both GNSS/INS and lane marker detection. In this system, drift error of GNSS/INS measurement is compensated by lane marker measurement. From some experiments, it was confirmed that robust and smooth localization can be achieved by using this system.


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    Title :

    Precise position estimation of autonomous vehicle based on map-matching


    Contributors:
    Suganuma, N. (author) / Uozumi, T. (author)


    Publication date :

    2011-06-01


    Size :

    1816122 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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