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Creating navigation map in semi-open scenarios for intelligent vehicle localization using multi-sensor fusion
Jiangsu Univ, Automot Engn Res Inst, Zhenjiang 212013, Jiangsu, Peoples R China.;Wuhan Univ Technol, Hubei Key Lab Transportat Internet Things, Wuhan 430063, Peoples R China..
Jiangsu Univ, Automot Engn Res Inst, Zhenjiang 212013, Jiangsu, Peoples R China..
Malmö University, Faculty of Technology and Society (TS), Department of Computer Science and Media Technology (DVMT).ORCID iD: 0000-0002-2763-8085
Jiangsu Univ, Automot Engn Res Inst, Zhenjiang 212013, Jiangsu, Peoples R China..
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2021 (English)In: Expert systems with applications, ISSN 0957-4174, E-ISSN 1873-6793, Vol. 184, article id 115543Article in journal (Refereed) Published
Abstract [en]

In order to pursue high-accuracy localization for intelligent vehicles (IVs) in semi-open scenarios, this study proposes a new map creation method based on multi-sensor fusion technique. In this new method, the road scenario fingerprint (RSF) was employed to fuse the visual features, three-dimensional (3D) data and trajectories in the multi-view and multi-sensor information fusion process. The visual features were collected in the front and downward views of the IVs; the 3D data were collected by the laser scanner and the downward camera and a homography method was proposed to reconstruct the monocular 3D data; the trajectories were computed from the 3D data in the downward view. Moreover, a new plane-corresponding calibration strategy was developed to ensure the fusion quality of sensory measurements of the camera and laser. In order to evaluate the proposed method, experimental tests were carried out in a 5 km semi-open ring route. A series of nodes were found to construct the RSF map. The experimental results demonstrate that the mean error of the nodes between the created and actual maps was 2.7 cm, the standard deviation of the nodes was 2.1 cm and the max error was 11.8 cm. The localization error of the IV was 10.8 cm. Hence, the proposed RSF map can be applied to semi-open scenarios in practice to provide a reliable basic for IV localization.

Place, publisher, year, edition, pages
Elsevier, 2021. Vol. 184, article id 115543
Keywords [en]
Intelligent vehicles, Road scenario fingerprint, Multi-view representation, Multi-sensor fusion, Map-based localization
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:mau:diva-46270DOI: 10.1016/j.eswa.2021.115543ISI: 000697191700005Scopus ID: 2-s2.0-85109448854OAI: oai:DiVA.org:mau-46270DiVA, id: diva2:1602615
Available from: 2021-10-13 Created: 2021-10-13 Last updated: 2024-02-05Bibliographically approved

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Malekian, Reza

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