상세정보
학술지
Real-Time Precision Vehicle Localization Using Numerical Maps
- 발행일
- 201412
- 출처
- ETRI Journal, v.36 no.6, pp.968-978
- ISSN
- 1225-6463
- 출판사
- 한국전자통신연구원 (ETRI)
- 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.
- 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)