Vehicle Localization Using Crowdsourced Data Collected on Urban Roads

Vehicle localization using mounted sensors is an essential technology for various applications, including autonomous vehicles and road mapping. Achieving high positioning accuracy through the fusion of low-cost sensors is a topic of considerable interest. Recently, applications based on crowdsourced...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2024-08, Vol.24 (17), p.5531
Main Authors: Cho, Soohyun, Chung, Woojin
Format: Article
Language:English
Subjects:
crowdsourced data
Embedded systems
Localization
Mapping
Methods
Roads & highways
Sensors
simultaneous localization and mapping
Statistical analysis
Travel
vehicle localization
Vehicles
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Summary:Vehicle localization using mounted sensors is an essential technology for various applications, including autonomous vehicles and road mapping. Achieving high positioning accuracy through the fusion of low-cost sensors is a topic of considerable interest. Recently, applications based on crowdsourced data from a large number of vehicles have received significant attention. Equipping standard vehicles with low-cost onboard sensors offers the advantage of collecting data from multiple drives over extensive road networks at a low operational cost. These vehicle trajectories and road observations can be utilized for traffic surveys, road inspections, and mapping. However, data obtained from low-cost devices are likely to be highly inaccurate. On urban roads, unlike highways, complex road structures and GNSS signal obstructions caused by buildings are common. This study proposes a reliable vehicle localization method using a large amount of crowdsourced data collected from urban roads. The proposed localization method is designed with consideration for the high inaccuracy of the data, the complexity of road structures, and the partial use of high-definition (HD) maps that account for environmental changes. The high inaccuracy of sensor data affects the reliability of localization. Therefore, the proposed method includes a reliability assessment of the localized vehicle poses. The performance of the proposed method was evaluated using data collected from buses operating in Seoul, Korea. The data used for the evaluation were collected 18 months after the creation of the HD maps.
ISSN:1424-8220
1424-8220
DOI:10.3390/s24175531