Correction of vehicle positioning error using 3D-map-GNSS and vision-based road marking detection

Yanlei Gu, Li Ta Hsu, Shunsuke Kamijo

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

4 Citations (Scopus)

Abstract

Accurate and robust vehicle self-localization in the urban environment is a new challenge arising in the autonomous driving. GNSS positioning technique suffers from the effects of multipath and Non-Line-Of-Sight (NLOS) propagation in urban canyon. This paper proposes to employ an innovative GNSS positioning technique with the aid of 3D building map, to mitigate the error caused by multipath and NLOS. In addition, the road markings on road surface provide the significant visual information for driving, which can also be used for localization. Based on the lane marking detection, the lane keeping and changing behavior can be recognized and used for positioning. This paper integrates 3D-map-GNSS with vision-based road marking detection and 2D Map to reduce the vehicle positioning error. The experiment results demonstrate that the proposed method can provide sub-meter accuracy with respect to positioning error mean.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages140-145
Number of pages6
ISBN (Electronic)9781467391146
DOIs
Publication statusPublished - 1 Feb 2016
Externally publishedYes
EventIEEE International Conference on Vehicular Electronics and Safety, ICVES 2015 - Yokohama, Japan
Duration: 5 Nov 20157 Nov 2015

Publication series

Name2015 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2015

Conference

ConferenceIEEE International Conference on Vehicular Electronics and Safety, ICVES 2015
Country/TerritoryJapan
CityYokohama
Period5/11/157/11/15

Keywords

  • 3D map based GNSS
  • integration
  • passive sensor
  • road map
  • vehicle self-localization
  • vision

ASJC Scopus subject areas

  • Safety, Risk, Reliability and Quality
  • Electrical and Electronic Engineering
  • Automotive Engineering

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