Map-Based Precision Vehicle Localization in Urban Environments

@inproceedings{Levinson2007MapBasedPV,
  title={Map-Based Precision Vehicle Localization in Urban Environments},
  author={Jesse Levinson and Michael Montemerlo and Sebastian Thrun},
  booktitle={Robotics: Science and Systems},
  year={2007}
}
Many urban navigation applications (e.g., autonomous navigation, driver assistance systems) can benefit greatly from localization with centimeter accuracy. Yet such accuracy cannot be achieved reliably with GPS-based inertial guidance systems, specifically in urban settings. We propose a technique for high-accuracy localization of moving vehicles that utilizes maps of urban environments. Our approach integrates GPS, IMU, wheel odometry, and LIDAR data acquired by an instrumented vehicle, to… CONTINUE READING
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