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Map Relative Localization Based on Visual and Topological Map Matching

Rabbia Asghar 1 Mario Garzón 1 Jerome Lussereau 1 Christian Laugier 1
1 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
Inria Grenoble - Rhône-Alpes, CITI - CITI Centre of Innovation in Telecommunications and Integration of services
Abstract : Accurate and reliable localization is crucial to autonomous vehicle navigation and driver assistance systems. This paper presents a novel approach for online vehicle local-ization in a digital map. Two distinct map matching algorithms are proposed: i) Iterative Closest Point (ICP) based lane level map matching is performed with visual lane tracker and grid map ii) decision-rule based approach is used to perform topological map matching. Results of both the map matching algorithms are fused together with GPS and dead reckoning using Extended Kalman Filter to estimate vehicle's pose relative to the map. The proposed approach has been validated on real life conditions on a road equipped vehicle. Detailed analysis of the experimental results show improved localization using the two aforementioned map matching algorithms.
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https://hal.inria.fr/hal-02412837
Contributor : Rabbia Asghar <>
Submitted on : Sunday, December 15, 2019 - 11:07:36 PM
Last modification on : Friday, January 10, 2020 - 1:08:21 AM
Document(s) archivé(s) le : Monday, March 16, 2020 - 2:07:17 PM

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  • HAL Id : hal-02412837, version 1

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Rabbia Asghar, Mario Garzón, Jerome Lussereau, Christian Laugier. Map Relative Localization Based on Visual and Topological Map Matching. [Technical Report] Inria Chroma. 2019. ⟨hal-02412837⟩

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