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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 2015-01-21.
CPL Pubid: 201866


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Institutioner (Chalmers)

Institutionen för signaler och system, Signalbehandling



Chalmers infrastruktur