【摘 要】
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Vehicle localization is the primary function in Intelligent Vehicles (IVs).Localization result is usually provided by the combination of GPS data and additional sensors, which are able to improve the
【机 构】
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Traffic Management Research Institute of Ministry of Public Security Wuxi China;Key Laboratory of Mi
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Vehicle localization is the primary function in Intelligent Vehicles (IVs).Localization result is usually provided by the combination of GPS data and additional sensors, which are able to improve the localization precision.In this paper, a monocular camera and map database help vehicle localization, aiming to enhancing the localization performance.To this end, map-based road lane markings are constructed according to open source map.Then, vision-based markings and map-based markings are fused to obtain the improved vehicle fix, using an improved Multi-Kernel Estimation (MKE) method.The results on real road experiments show that our method leads to a clear improvement in localization accuracy.
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