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Vehicle Positioning Based on Road-side Features and Matching Techniques (基於路側特徵和比對技術之車輛定位)
  • 發布年度:2018
  • 主要類別:車載資通訊
  • 次要類別:論文
  • Abstract— The accuracy and reliability of the vehicle positioning system are important performance indices of advanced driver assisted systems and the autonomous driving systems. The paper focuses on the development and verification of vehicle positioning techniques by using Lidar and GPS/IMU sensors. To this end, the techniques for feature extraction, map building, and point cloud matching are investigated. The techniques are then integrated and implemented in a robotic operating system (ROS) platform. Experimental results verify the feasibility of the proposed sensor fusion technique with roadside feature extraction characteristics in rendering high accuracy and reliability vehicle positioning.