A Study on Localization Methods for Autonomous Vehicle based on Particle Filter Using 2D Laser Sensor Measurements and Road Features

2D 레이저센서와 도로정보를 이용한 Particle Filter 기반 자율주행 차량 위치추정기법 개발

  • Ahn, Kyung-Jae (The Department of Secured Smart Electric Vehicle Engineering, Kookmin University) ;
  • Lee, Taekgyu (The Graduate School of Automotive Engineering, Kookmin University) ;
  • Kang, Yeonsik (Department of Automotive Engineering, Kookmin University)
  • 안경재 (국민대학교 대학원 보안-스마트 전기자동차공학과) ;
  • 이택규 (국민대학교 자동차공학전문대학원) ;
  • 강연식 (국민대학교 자동차공학과)
  • Received : 2016.07.19
  • Accepted : 2016.09.08
  • Published : 2016.10.01


This paper presents a study of localization methods based on particle filter using 2D laser sensor measurements and road feature map information, for autonomous vehicles. In order to navigate in an urban environment, an autonomous vehicle should be able to estimate the location of the ego-vehicle with reasonable accuracy. In this study, road features such as curbs and road markings are detected to construct a grid-based feature map using 2D laser range finder measurements. Then, we describe a particle filter-based method for accurate positional estimation of the autonomous vehicle in real-time. Finally, the performance of the proposed method is verified through real road driving experiments, in comparison with accurate DGPS data as a reference.


Supported by : 한국연구재단


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