Passive sensor integration for vehicle self-localization in urban traffic environment

Yanlei Gu, Li Ta Hsu, Shunsuke Kamijo

Research output: Journal article publicationJournal articleAcademic researchpeer-review

47 Citations (Scopus)


This research proposes an accurate vehicular positioning system which can achieve lane-level performance in urban canyons. Multiple passive sensors, which include Global Navigation Satellite System (GNSS) receivers, onboard cameras and inertial sensors, are integrated in the proposed system. As the main source for the localization, the GNSS technique suffers from Non-Line-Of-Sight (NLOS) propagation and multipath effects in urban canyons. This paper proposes to employ a novel GNSS positioning technique in the integration. The employed GNSS technique reduces the multipath and NLOS effects by using the 3D building map. In addition, the inertial sensor can describe the vehicle motion, but has a drift problem as time increases. This paper develops vision-based lane detection, which is firstly used for controlling the drift of the inertial sensor. Moreover, the lane keeping and changing behaviors are extracted from the lane detection function, and further reduce the lateral positioning error in the proposed localization system. We evaluate the integrated localization system in the challenging city urban scenario. The experiments demonstrate the proposed method has sub-meter accuracy with respect to mean positioning error.

Original languageEnglish
Pages (from-to)30199-30220
Number of pages22
JournalSensors (Switzerland)
Issue number12
Publication statusPublished - 3 Dec 2015
Externally publishedYes


  • 3D map
  • GNSS
  • Inertial sensor
  • Lane detection
  • Particle filter
  • Sensor integration
  • Vehicle self-localization
  • Vision

ASJC Scopus subject areas

  • Analytical Chemistry
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering


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