Multiscale Site Matching for Vision-Only Self-Localization of Intelligent Vehicles

• Published in: IEEE intelligent transportation systems magazine Vol. 10; no. 3; pp. 170 - 183
• Main Authors: Li, Yicheng, Hu, Zhaozheng, Li, Zhixiong, Sotelo, Miguel Angel, Ma, Yulin
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.01.2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Bayesian analysis; Cameras; Computational modeling; Global navigation satellite system; Global Positioning System; Industrial parks; Inertial navigation; Intelligent vehicles; Localization; Matching; Multiscale analysis; Navigation satellites; Navigation systems; Nodes; Roads & highways; Robustness; Simultaneous localization and mapping; Three-dimensional displays; Vision; Visualization

Self-localization is a challenging issue in intelligent vehicle (IV) systems. Traditional self-localization methods, such as the Global Navigation Satellite System (GNSS), Inertial Navigation System (INS) and vision simultaneous localization and mapping (vSLAM), are subject to low accuracy, high cos...