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Accurate Vehicle Localization using DTW between Range Data Map and Laser Scanner Data Sequences

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7 Author(s)
Nao Shibuhisa ; Graduate School of Information Science, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi, 464-8601, Japan. ; Junji Sato ; Tomokazu Takahashi ; Ichiro Ide
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We propose a method for accurate vehicle localization. The proposed method detects a vehicle's location and traveling lane by matching between a pre-constructed range data map and laser scanner data sequences measured while the vehicle runs. The range data map consists of an absolute position on the road and range data at the position. We use dynamic time warping (DTW) to align multiple range data sequences. Experiments using 40 data sequences collected while a vehicle ran on the same route with multiple traffic lanes were conducted. The results demonstrated the effectiveness of vehicle localization and traveling lane classification.

Published in:

2007 IEEE Intelligent Vehicles Symposium

Date of Conference:

13-15 June 2007