Creating Enhanced Maps for Lane-Level Vehicle Navigation

Betaille, David; Toledo-Moreo, R.

doi:10.1109/tits.2010.2050689

Cited by 116 publications

(73 citation statements)

References 17 publications

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“…In [180], the authors propose a custom format, Emap (enhanced map), usable for a lane-level localization. Lanes are represented as a series of straight lines, circles or clothoids based on GNSS and dead reckoning measurements.…”

Section: Localization In Existing Mapsmentioning

confidence: 99%

Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving

Bresson

Alsayed

et al. 2017

IEEE Trans. Intell. Veh.

700

366

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Abstract-In this article, we propose a survey of the Simultaneous Localization And Mapping field when considering the recent evolution of autonomous driving. The growing interest regarding self-driving cars has given new directions to localization and mapping techniques. In this survey, we give an overview of the different branches of SLAM before going into the details of specific trends that are of interest when considered with autonomous applications in mind. We first present the limits of classical approaches for autonomous driving and discuss the criteria that are essential for this kind of application. We then review the methods where the identified challenges are tackled. We mostly focus on approaches building and reusing long-term maps in various conditions (weather, season, etc.). We also go through the emerging domain of multi-vehicle SLAM and its link with self-driving cars. We survey the different paradigms of that field (centralized and distributed) and the existing solutions. Finally, we conclude by giving an overview of the various largescale experiments that have been carried out until now and discuss the remaining challenges and future orientations.

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Section: Localization In Existing Mapsmentioning

confidence: 99%

Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving

Bresson

Alsayed

et al. 2017

IEEE Trans. Intell. Veh.

700

366

View full text Add to dashboard Cite

show abstract

“…The improvements of accurate localization sensors such as RTK GPS and other on-board sensors such as IMU and LiDA R made the enhanced maps become possible. On the purpose of increasing utility of digital maps in advanced vehicle applications, creating the lane-level map is becoming a prevailing interest among researchers worldwide [3]. Co mpared with the traditional road level map, the lane level map is enhanced with massive data, wh ich are capable of improving the accuracy from about 10 meter to decimetre level or even centimetre level and illustrating more precise geo metry in line with the real situations.…”

Section: Introductionmentioning

confidence: 99%

“…Du Jie et al [2] emp loy the piecewise polyline to appro ximate the centreline in a lane. Betaille et al [3] in their lane-level enhanced map apply the clothoids for the description of the road lanes in a digital map. Circular arc spline is also applied in the map geometrical model [10].…”

Section: Introductionmentioning

confidence: 99%

Design of a Multi-layer Lane-Level Map for Vehicle Route Planning

et al. 2017

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Abstract. With the development of intelligent transportation system, there occurs further demand for high precision localization and route planning, and simultaneously the traditional road-level map fails to meet with this requirement, by which this paper is motivated. In this paper, t he three-layer lane-level map architecture for vehicle path guidance is established, and the mathematical models of road-level layer, intermediate layer and lane-level layer are designed considering efficiency and precision. T he geometric model of the lane-level layer of the map is characterized by Cubic Hermite Spline for continuity. A method of generating the lane geometry with fixed and variable control points is proposed, which can effectively ensure the accuracy with limited num ber of control points. In experimental part, a multi-layer map of an intersection is built to validate the map model, and an example of a local map was generated with the lane-level geometry.

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“…For most of the self-driving car demonstrations a custom made or informative digital map of the route to be followed by professional map making companies has been used. For implementing the reliable and continuous navigation capability, a vehicle satellite positioning system is augmented with other sensors such inertial measurement unit, odometer and exteroceptive sensors such as camera and LIDAR [2], [3]. Differential correction obtained by using GPS pseudo-range code (DGPS) can achieve an accuracy within 1-5m, on the other hand, the usage of GPS carrier phase information such as real time kinematics (RTK) GPS can achieve centimeter level positioning accuracy.…”

Section: Introductionmentioning

confidence: 99%