A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle
This paper presents a method of particle filter localization for autonomous vehicles, based on two-dimensional (2D) laser sensor measurements and road features. To navigate an urban environment, an autonomous vehicle should be able to estimate its location with a reasonable accuracy. By detecting ro...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2019-01-01
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| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2019/3680181 |
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| _version_ | 1832560289566949376 |
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| author | KyungJae Ahn Yeonsik Kang |
| author_facet | KyungJae Ahn Yeonsik Kang |
| author_sort | KyungJae Ahn |
| collection | DOAJ |
| description | This paper presents a method of particle filter localization for autonomous vehicles, based on two-dimensional (2D) laser sensor measurements and road features. To navigate an urban environment, an autonomous vehicle should be able to estimate its location with a reasonable accuracy. By detecting road features such as curbs and road markings, a grid-based feature map is constructed using 2D laser range finder measurements. Then, a particle filter is employed to accurately estimate the position of the autonomous vehicle. Finally, the performance of the proposed method is verified and compared to accurate Differential Global Positioning Systems (DGPS) data through real road driving experiments. |
| format | Article |
| id | doaj-art-ef8aff3e4d264c9ba73ecd444ffad575 |
| institution | Kabale University |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-ef8aff3e4d264c9ba73ecd444ffad5752025-02-03T01:28:00ZengWileyJournal of Advanced Transportation0197-67292042-31952019-01-01201910.1155/2019/36801813680181A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous VehicleKyungJae Ahn0Yeonsik Kang1Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Republic of KoreaDepartment of Security Enhanced Smart Electric Vehicle, Kookmin University, Seoul 02707, Republic of KoreaThis paper presents a method of particle filter localization for autonomous vehicles, based on two-dimensional (2D) laser sensor measurements and road features. To navigate an urban environment, an autonomous vehicle should be able to estimate its location with a reasonable accuracy. By detecting road features such as curbs and road markings, a grid-based feature map is constructed using 2D laser range finder measurements. Then, a particle filter is employed to accurately estimate the position of the autonomous vehicle. Finally, the performance of the proposed method is verified and compared to accurate Differential Global Positioning Systems (DGPS) data through real road driving experiments.http://dx.doi.org/10.1155/2019/3680181 |
| spellingShingle | KyungJae Ahn Yeonsik Kang A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle Journal of Advanced Transportation |
| title | A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle |
| title_full | A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle |
| title_fullStr | A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle |
| title_full_unstemmed | A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle |
| title_short | A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle |
| title_sort | particle filter localization method using 2d laser sensor measurements and road features for autonomous vehicle |
| url | http://dx.doi.org/10.1155/2019/3680181 |
| work_keys_str_mv | AT kyungjaeahn aparticlefilterlocalizationmethodusing2dlasersensormeasurementsandroadfeaturesforautonomousvehicle AT yeonsikkang aparticlefilterlocalizationmethodusing2dlasersensormeasurementsandroadfeaturesforautonomousvehicle AT kyungjaeahn particlefilterlocalizationmethodusing2dlasersensormeasurementsandroadfeaturesforautonomousvehicle AT yeonsikkang particlefilterlocalizationmethodusing2dlasersensormeasurementsandroadfeaturesforautonomousvehicle |