Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An Improved Position Estimation Algorithm of Vehicles Using Semantic Information of Maps

지도의 의미 정보를 이용한 개선된 차량 위치 추정 알고리즘

  • Lee, Chang Gil (Department of Electrical and Electronic Engineering, Yonsei University) ;
  • Choi, Yoon Ho (Department of Electronic Engineering, Kyonggi University) ;
  • Park, Jin Bae (Department of Electrical and Electronic Engineering, Yonsei University)
  • 이창길 (연세대학교 전기전자공학부) ;
  • 최윤호 (경기대학교 전자공학과) ;
  • 박진배 (연세대학교 전기전자공학부)
  • Received : 2016.05.11
  • Accepted : 2016.07.04
  • Published : 2016.09.01
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Abstract

In this paper, we propose a novel method for estimating a vehicle's current position, even on roads that have similar patterns. In the proposed method, we classified the semantic information of the nodes in detail and added the semantic information of the link to solve the problem due to similar and repeated patterns. We also improved the mapping method by comparing the result of the duplicated matching with that of the only matching obtained just before corresponding duplicated matching. From the simulation results, we verify that the performance of the proposed method is better than that of the existing method.

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References

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