A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle

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: KyungJae Ahn, Yeonsik Kang
Format: Article
Language:English
Published: Hindawi-Wiley 2019-01-01
Series:Journal of Advanced Transportation
Online Access:http://dx.doi.org/10.1155/2019/3680181
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spelling doaj-ef8aff3e4d264c9ba73ecd444ffad5752020-11-25T00:33:44ZengHindawi-WileyJournal 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
collection DOAJ
language English
format Article
sources DOAJ
author KyungJae Ahn
Yeonsik Kang
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
author_facet KyungJae Ahn
Yeonsik Kang
author_sort KyungJae Ahn
title 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_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_sort particle filter localization method using 2d laser sensor measurements and road features for autonomous vehicle
publisher Hindawi-Wiley
series Journal of Advanced Transportation
issn 0197-6729
2042-3195
publishDate 2019-01-01
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.
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
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