GNSS/INS/On-board Camera Integration for Vehicle Self-Localization in Urban Canyon

Kamijo Shunsuke, Gu Yanlei, Li Ta Hsu

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

18 Citations (Scopus)


This paper presents a precise vehicle self-localization system for autonomous driving. The developed system integrates multiple on-board passive sensors, Global Navigation Satellite System (GNSS), Inertial Navigation system (INS) and on-board monocular camera, in order to achieve lane-level localization performance in urban environment. GNSS based positioning technique suffers from the effects of multipath and Non-Line-Of-Sight (NLOS) propagation in urban canyon. The positioning error also affects the performance in the integrated GNSS/INS system. In the other side, the lane-marking on road surface provides the important visual source of information for driving. This paper proposes to detect the occupied lane of vehicle using on-board cameras. The lane detection result is integrated with GNSS/INS system in order to improve the positioning error. The experiment results demonstrate that the proposed method can provide 90% correctness with respect to the occupied lane.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE 18th International Conference on Intelligent Transportation Systems
Subtitle of host publicationSmart Mobility for Safety and Sustainability, ITSC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781467365956, 9781467365956, 9781467365956, 9781467365956
Publication statusPublished - 30 Oct 2015
Externally publishedYes
Event18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015 - Gran Canaria, Spain
Duration: 15 Sep 201518 Sep 2015

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC


Conference18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015
CityGran Canaria


  • Integration
  • Lane Detection
  • Vehicle Self-Localization
  • Vision

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications

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