This paper proposes a sensor fusion-based low-cost vehicle localization system. The proposed system fuses a global positioning system (GPS), an inertial measurement unit (IMU), a wheel speed sensor, a single front camera, and a digital map via the particle filter. This system is advantageous over previous methods from the perspective of mass production. First, it only utilizes low-cost sensors. Second, it requires a low-volume digital map where road markings are expressed by a minimum number of points. Third, it consumes a small computational cost and has been implemented in a low-cost real-time embedded system. Fourth, it requests the perception sensor module to transmit a small amount of information to the vehicle localization module. Last, it was quantitatively evaluated in a large-scale database.


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    Titel :

    Sensor Fusion-Based Low-Cost Vehicle Localization System for Complex Urban Environments


    Beteiligte:
    Suhr, Jae Kyu (Autor:in) / Jang, Jeungin (Autor:in) / Min, Daehong (Autor:in) / Jung, Ho Gi (Autor:in)


    Erscheinungsdatum :

    01.05.2017


    Format / Umfang :

    1740478 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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