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Terrain-based road vehicle localization on multi-lane highways

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2 Author(s)
Dean, A.J. ; Dept. of Mech. Eng., Brigham Young Univ.-Idaho, Rexburg, ID, USA ; Brennan, S.N.

This work develops an algorithm for estimating the lateral lane index of road vehicles on multi-lane roadways by correlating vehicle attitude measurements to terrain maps of the individual lanes of travel. To localize a vehicle, a Bayesian belief algorithm and a particle filter algorithm are described and applied off-line using data collected from two lanes along a local highway. Results demonstrate that terrain-based algorithms are capable of measuring lane index. Because these measurements are immune to lighting conditions, this solution is a good complement to existing lane-detection camera systems.

Published in:

American Control Conference, 2009. ACC '09.

Date of Conference:

10-12 June 2009