Kang Jeong Min, Yoon Tae Sung, Kim Euntai, Park Jin Bae
Department of Electrical and Electronic Engineering, Yonsei University, Seoul 03722, Korea.
Department of Electrical Engineering, Changwon National University, Changwon 51140, Korea.
Sensors (Basel). 2020 Apr 11;20(8):2166. doi: 10.3390/s20082166.
Accurate vehicle localization is important for autonomous driving and advanced driver assistance systems. Existing precise localization systems based on the global navigation satellite system cannot always provide lane-level accuracy even in open-sky environments. Map-based localization using high-definition (HD) maps is an interesting method for achieving greater accuracy. We propose a map-based localization method using a single camera. Our method relies on road link information in the HD map to achieve lane-level accuracy. Initially, we process the image-acquired using the camera of a mobile device-via inverse perspective mapping, which shows the entire road at a glance in the driving image. Subsequently, we use the Hough transform to detect the vehicle lines and acquire driving link information regarding the lane on which the vehicle is moving. The vehicle position is estimated by matching the global positioning system (GPS) and reference HD map. We employ iterative closest point-based map-matching to determine and eliminate the disparity between the GPS trajectories and reference map. Finally, we perform experiments by considering the data of a sophisticated GPS/inertial navigation system as the ground truth and demonstrate that the proposed method provides lane-level position accuracy for vehicle localization.
精确的车辆定位对于自动驾驶和先进驾驶辅助系统至关重要。现有的基于全球导航卫星系统的精确定位系统即使在开阔天空环境下也并非总能提供车道级精度。使用高清（HD）地图的基于地图的定位是实现更高精度的一种有趣方法。我们提出一种使用单摄像头的基于地图的定位方法。我们的方法依靠高清地图中的道路链接信息来实现车道级精度。首先，我们通过逆透视映射处理使用移动设备摄像头获取的图像，该映射能在驾驶图像中一眼展示整条道路。随后，我们使用霍夫变换检测车辆线条并获取有关车辆行驶车道的驾驶链接信息。通过将全球定位系统（GPS）与参考高清地图进行匹配来估计车辆位置。我们采用基于迭代最近点的地图匹配来确定并消除GPS轨迹与参考地图之间的差异。最后，我们以复杂的GPS/惯性导航系统的数据作为地面真值进行实验，并证明所提出的方法为车辆定位提供了车道级位置精度。
