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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    Title :

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




    Publication date :

    2017




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.84 Straßenverkehr / 55.24 / 55.84 / 55.24 Fahrzeugführung, Fahrtechnik




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