Vehicle Localization Based on Visual Lane Marking and Topological Map Matching
Rabbia Asghar,Mario Garzón,Jérôme Lussereau,Christian Laugier,Rabbia Asghar,Mario Garzón,Jérôme Lussereau,Christian Laugier
Accurate and reliable localization is crucial to autonomous vehicle navigation and driver assistance systems. This paper presents a novel approach for online vehicle localization 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 us...
