CPL - Chalmers Publication Library
| Utbildning | Forskning | Styrkeområden | Om Chalmers | In English In English Ej inloggad.

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

Malin Lundgren (Institutionen för signaler och system, Signalbehandling) ; Erik Stenborg (Institutionen för signaler och system, Signalbehandling) ; Lennart Svensson (Institutionen för signaler och system, Signalbehandling) ; Lars Hammarstrand (Institutionen för signaler och system, Signalbehandling)
IEEE Intelligent Vehicles Symposium, Proceedings p. 522-528. (2014)
[Konferensbidrag, refereegranskat]

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.

Denna post skapades 2014-08-25. Senast ändrad 2017-01-27.
CPL Pubid: 201866


Läs direkt!

Lokal fulltext (fritt tillgänglig)

Länk till annan sajt (kan kräva inloggning)

Institutioner (Chalmers)

Institutionen för signaler och system, Signalbehandling (1900-2017)



Chalmers infrastruktur

Relaterade publikationer

Denna publikation ingår i:

Localization for Autonomous Vehicles