In this paper, we propose an accurate and real-time positioning method for robotic cars in urban environments. The proposed method uses a robust lane marking detection algorithm, as well as an efficient shape registration algorithm between the detected lane markings and a GPS-based road shape prior, to improve the robustness and accuracy of the global localization of a robotic car. We show that, by formulating the positioning problem in a relative sense, we can estimate the global localization of a car in real time and bound its absolute error in the centimeter level by a cross-validation scheme. The cross-validation scheme integrates the vision-based lane marking detection with the shape registration, and it improves the accuracy and robustness of the overall localization system. The GPS localization can be refined by using lane marking detection when the GPS suffers from frequent satellite signal masking or blockage, whereas lane marking detection is validated and completed by the GPS-based road shape prior when it does not work well in adverse weather conditions or with poor lane signatures. We extensively evaluate the proposed method with a single forward-looking camera mounted on an autonomous vehicle that travels at 60 km/h through several urban street scenes.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Real-Time Global Localization of Robotic Cars in Lane Level via Lane Marking Detection and Shape Registration


    Contributors:
    Cui, Dixiao (author) / Xue, Jianru (author) / Zheng, Nanning (author)


    Publication date :

    2016-04-01


    Size :

    3448163 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    LANE MARKING LOCALIZATION

    WANG MINGDONG / QIAN CHENZHE / MEI XUE | European Patent Office | 2019

    Free access

    LANE MARKING LOCALIZATION

    WANG MINGDONG / QIAN CHENZHE / MEI XUE | European Patent Office | 2020

    Free access

    LANE MARKING DETECTION SYSTEM AND LANE MARKING DETECTION METHOD

    TAKEMAE KASHU | European Patent Office | 2015

    Free access