TY - GEN
T1 - Terrain-based road vehicle localization on multi-lane highways
AU - Dean, Adam J.
AU - Brennan, Sean N.
PY - 2009
Y1 - 2009
N2 - This work develops an algorithm for estimating the lateral lane index of road vehicles on multi-lane roadways by correlating vehicle attitude measurements to terrain maps of the individual lanes of travel. To localize a vehicle, a Bayesian belief algorithm and a particle filter algorithm are described and applied off-line using data collected from two lanes along a local highway. Results demonstrate that terrain-based algorithms are capable of measuring lane index. Because these measurements are immune to lighting conditions, this solution is a good complement to existing lane-detection camera systems.
AB - This work develops an algorithm for estimating the lateral lane index of road vehicles on multi-lane roadways by correlating vehicle attitude measurements to terrain maps of the individual lanes of travel. To localize a vehicle, a Bayesian belief algorithm and a particle filter algorithm are described and applied off-line using data collected from two lanes along a local highway. Results demonstrate that terrain-based algorithms are capable of measuring lane index. Because these measurements are immune to lighting conditions, this solution is a good complement to existing lane-detection camera systems.
UR - http://www.scopus.com/inward/record.url?scp=70449631605&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70449631605&partnerID=8YFLogxK
U2 - 10.1109/ACC.2009.5160078
DO - 10.1109/ACC.2009.5160078
M3 - Conference contribution
AN - SCOPUS:70449631605
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 707
EP - 712
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -