2021
DOI: 10.48550/arxiv.2101.06379
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Data-Driven Protection Levels for Camera and 3D Map-based Safe Urban Localization

Abstract: Reliably assessing the error in an estimated vehicle position is integral for ensuring the vehicle's safety in urban environments. Many existing approaches use GNSS measurements to characterize protection levels (PLs) as probabilistic upper bounds on the position error. However, GNSS signals might be reflected or blocked in urban environments, and thus additional sensor modalities need to be considered to determine PLs. In this paper, we propose a novel approach for computing PLs by matching camera image measu… Show more

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