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학술지 Real-Time Precision Vehicle Localization Using Numerical Maps
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저자
한승준, 최정단
발행일
201412
출처
ETRI Journal, v.36 no.6, pp.968-978
ISSN
1225-6463
출판사
한국전자통신연구원 (ETRI)
DOI
https://dx.doi.org/10.4218/etrij.14.0114.0040
협약과제
13IC2200, 자동 발렛파킹을 위한 센서기반 공간인지 및 자동주행기술개발, 최정단
초록
Autonomous vehicle technology based on information technology and software will lead the automotive industry in the near future. Vehicle localization technology is a core expertise geared toward developing autonomous vehicles and will provide location information for control and decision. This paper proposes an effective vision-based localization technology to be applied to autonomous vehicles. In particular, the proposed technology makes use of numerical maps that are widely used in the field of geographic information systems and that have already been built in advance. Optimum vehicle ego-motion estimation and road marking feature extraction techniques are adopted and then combined by an extended Kalman filter and particle filter to make up the localization technology. The implementation results of this paper show remarkable results; namely, an 18 ms mean processing time and 10 cm location error. In addition, autonomous driving and parking are successfully completed with an unmanned vehicle within a 300 m x 500 m space.
키워드
Autonomous valet parking, Autonomous vehicle, Ego-motion, Localization, Particle filter, Road marker feature, Visual odometry
KSP 제안 키워드
Automotive Industry, Autonomous vehicle, Ego-Motion Estimation, Extended kalman fiLTEr, Feature Extraction Techniques, Geographic Information System, Information Technology, Information systems(IS), Location Error, Location information(GPS), Motion estimation(ME)