Abstract
Localization is a critical task of autonomous vehicles, and can provide a foundation for the planning and perception modules. In this paper, we propose a novel vehicle localization method based on road-boundary maps. Firstly, a fast road boundary detection method based on random forests is presented. Secondly, two road-boundary maps, global and local maps, are built based on the boundary detection results respectively. Finally, an efficient localization algorithm via the road-boundary maps in Bayes framework is implemented. Our method is evaluated with data collected from an urban environment and the results show that the proposed method can be used for efficient road boundary detection and accurate vehicle localization.
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Zhao, D., Wu, T., Fang, Y., Wang, R., Dai, J., Dai, B. (2014). Efficient Vehicle Localization Based on Road-Boundary Maps. In: Pham, DN., Park, SB. (eds) PRICAI 2014: Trends in Artificial Intelligence. PRICAI 2014. Lecture Notes in Computer Science(), vol 8862. Springer, Cham. https://doi.org/10.1007/978-3-319-13560-1_43
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DOI: https://doi.org/10.1007/978-3-319-13560-1_43
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-13559-5
Online ISBN: 978-3-319-13560-1
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