@inproceedings{6943c2bd6de54a25b2afe4c636169373,
title = "GNSS/INS/On-board Camera Integration for Vehicle Self-Localization in Urban Canyon",
abstract = "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.",
keywords = "Integration, Lane Detection, Vehicle Self-Localization, Vision",
author = "Kamijo Shunsuke and Gu Yanlei and Hsu, {Li Ta}",
year = "2015",
month = oct,
day = "30",
doi = "10.1109/ITSC.2015.407",
language = "English",
series = "IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2533--2538",
booktitle = "Proceedings - 2015 IEEE 18th International Conference on Intelligent Transportation Systems",
note = "18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015 ; Conference date: 15-09-2015 Through 18-09-2015",
}