An Observation Model Based on Polyline Map for Autonomous Vehicle Localization

2006 ◽  
Author(s):  
Nga-Viet Nguyen ◽  
Deepak Tyagi ◽  
Vladimir I. Shin
Keyword(s):  
Autonomous Vehicle ◽  
Observation Model ◽  
Vehicle Localization ◽  
Model Based

scholarly journals Estimating Autonomous Vehicle Localization Error Using 2D Geographic Information

2019 ◽  
Vol 8 (6) ◽  
pp. 288 ◽  
Author(s):  
Kelvin Wong ◽  
Ehsan Javanmardi ◽  
Mahdi Javanmardi ◽  
Shunsuke Kamijo
Keyword(s):  
Point Cloud ◽  
Autonomous Vehicle ◽  
Autonomous Driving ◽  
Geographic Information ◽  
Localization Error ◽  
Random Forest Regression ◽  
Vehicle Localization ◽  
Surrounding Environment ◽  
Tightly Coupled ◽  
Critical Requirement

Accurately and precisely knowing the location of the vehicle is a critical requirement for safe and successful autonomous driving. Recent studies suggest that error for map-based localization methods are tightly coupled with the surrounding environment. Considering this relationship, it is therefore possible to estimate localization error by quantifying the representation and layout of real-world phenomena. To date, existing work on estimating localization error have been limited to using self-collected 3D point cloud maps. This paper investigates the use of pre-existing 2D geographic information datasets as a proxy to estimate autonomous vehicle localization error. Seven map evaluation factors were defined for 2D geographic information in a vector format, and random forest regression was used to estimate localization error for five experiment paths in Shinjuku, Tokyo. In the best model, the results show that it is possible to estimate autonomous vehicle localization error with 69.8% of predictions within 2.5 cm and 87.4% within 5 cm.

Geometric observation model based on proximity sensor for standing/sitting behaviors

2016 ◽  
Vol 82 (840) ◽  
pp. 15-00689-15-00689
Author(s):  
Hiroki YONEKURA ◽  
Geunho LEE ◽  
Satoshi NAGATOMO ◽  
Shingo KATSUNO ◽  
Takanori OHNUMA
Keyword(s):  
Observation Model ◽  
Proximity Sensor ◽  
Model Based
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