A low-cost lane-level navigation algorithm based on visual information
- Resource Type
- Conference
- Authors
- Jiang, Pan; Yan, Wei; Wang, Hongkai; Yuan, Yilong; He, Jin; Lin, Liang; Liu, Chang
- Source
- 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS) Position, Location and Navigation Symposium (PLANS), 2023 IEEE/ION. :1380-1384 Apr, 2023
- Subject
- Aerospace
Components, Circuits, Devices and Systems
Computing and Processing
Engineering Profession
General Topics for Engineers
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Visualization
Rain
Navigation
Roads
Urban areas
Meteorology
lane-level positioning
visual information
multi-sensor fusion
- Language
- ISSN
- 2153-3598
This paper proposes a low-cost lane-level positioning algorithm. The algorithm introduces visual information on the basis of IMU/odometer/GPS fusion to correct the lateral accuracy and realize lane-level navigation. We divide visual information fusion into three cases to solve the problem of harsh scenes. To verify the effectiveness of the algorithm, we conducted tests on expressways in more than 70 cities in China, with a total test mileage of more than 50,000 kilometers. The experimental results show that the lane matching accuracy is better than 95%.