In this contribution, we address the model-based derivation of perception requirements based on upper bounds on vehicle localization uncertainty for urban driver assistance (UDA) and urban automated driving (UAD). We show that a probabilistic model for the estimation of map-relative localization accuracy can be obtained and utilized for proper parametrization of a perception system. Therefore, the paper at hand entails two main contributions: i) Proposal of a probabilistic model for localization accuracy in closed form under the assumption of a generic measurement model with Gaussian noise and a stochastic landmark distribution, ii) Presentation of a framework for model-based derivation of perception requirements which permit desired localization performance. To exemplify the application of our method, sensor parameters for a stereo vision system (e.g. stereo base-width) are determined and verified via comprehensive simulation experiments. This is conducted in the context of an urban automated lane keeping system under explicit consideration of non-existent or occluded lane markings and curb stones.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Model-Based Derivation of Perception Accuracy Requirements for Vehicle Localization in Urban Environments


    Contributors:


    Publication date :

    2015-09-01


    Size :

    392341 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Lane-based vehicle localization in urban environments

    Zabihi, S.M. / Beauchemin, S.S. / Medeiros, E.A.M. De et al. | IEEE | 2015


    Precise vehicle localization in dense urban environments

    Rohde, Jan / Volz, Benjamin / Mielenz, Holger et al. | IEEE | 2016


    Robust vehicle localization in urban environments using probabilistic maps

    Levinson, Jesse / Thrun, Sebastian | Tema Archive | 2010


    ROBUST CURB DETECTION AND VEHICLE LOCALIZATION IN URBAN ENVIRONMENTS

    Hata, A. / Osorio, F. / Wolf, D. et al. | British Library Conference Proceedings | 2014