2024
DOI: 10.3390/s24165191
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An Object-Centric Hierarchical Pose Estimation Method Using Semantic High-Definition Maps for General Autonomous Driving

Jeong-Won Pyo,
Jun-Hyeon Choi,
Tae-Yong Kuc

Abstract: To achieve Level 4 and above autonomous driving, a robust and stable autonomous driving system is essential to adapt to various environmental changes. This paper aims to perform vehicle pose estimation, a crucial element in forming autonomous driving systems, more universally and robustly. The prevalent method for vehicle pose estimation in autonomous driving systems relies on Real-Time Kinematic (RTK) sensor data, ensuring accurate location acquisition. However, due to the characteristics of RTK sensors, prec… Show more

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