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)

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.

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.
Pages2533-2538
Number of pages6
ISBN (Electronic)9781467365956, 9781467365956, 9781467365956, 9781467365956
DOIs
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
Volume2015-October

Conference

Conference18th IEEE International Conference on Intelligent Transportation Systems, ITSC 2015
Country/TerritorySpain
CityGran Canaria
Period15/09/1518/09/15

Keywords

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

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications

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