TY - GEN
T1 - High Integrity Lane Level Localization Using Multiple Lane Markings Detection and Horizontal Protection Levels
AU - Frisch, Gabriel
AU - Xu, Philippe
AU - Stawiarski, Emmanuel
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/18
Y1 - 2018/12/18
N2 - For autonomous driving, lane level accurate localization is a necessity for complex driving maneuvers. Classical GNSS based methods are usually not accurate enough to have an unambiguous lane level localization. Having camera measurements such as lane marking detections along with high definition maps can enhance localization performance. In this paper, we are interested in high integrity localization, meaning being robust with low risk level. We propose a novel geometrical approach using horizontal protection levels on localization to propagate uncertainties and use lane markings to have an unambiguous map-matching. We demonstrate on real data that the algorithm can cope with high levels of noise on both localization and detection.
AB - For autonomous driving, lane level accurate localization is a necessity for complex driving maneuvers. Classical GNSS based methods are usually not accurate enough to have an unambiguous lane level localization. Having camera measurements such as lane marking detections along with high definition maps can enhance localization performance. In this paper, we are interested in high integrity localization, meaning being robust with low risk level. We propose a novel geometrical approach using horizontal protection levels on localization to propagate uncertainties and use lane markings to have an unambiguous map-matching. We demonstrate on real data that the algorithm can cope with high levels of noise on both localization and detection.
U2 - 10.1109/ICARCV.2018.8581278
DO - 10.1109/ICARCV.2018.8581278
M3 - Conference contribution
AN - SCOPUS:85060781384
T3 - 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
SP - 1496
EP - 1501
BT - 2018 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018
Y2 - 18 November 2018 through 21 November 2018
ER -