Vehicle attitude estimation in adverse weather conditions using a camera, a GPS and a 3D road map

Abstract

Abstract-We investigate the scenario of a vehicle equipped with a camera and a GPS driving on a road whose 3D map is known. We focus on the case of a road under fog or/and snow conditions. The GPS is used to estimate the vehicle pose and yaw and then the 3D road map is projected onto the camera image. The vehicle pitch and roll angles are then refined by fitting the projected road to detected road markings. Finally, we discuss the pros and cons of the obtained road registrations in the images and of the vehicle pitch-roll estimates, with respect to the vehicle dynamics and the driving environment, in adverse weather conditions.

A Survey on Localization for Autonomous Vehicles

“…They assert that the conventional ideas about LIDAR's sensitivity in weather conditions are exaggerated, and LiDAR-only based localization performs better than the other two approaches. [48] localized vehicles in severe weather conditions (fog, snow) just using standard equipment like GPS, a camera, and a 3D map. In this work, GPS estimates the vehicle's pose and yaw angle.…”

Lateral Position Measurement Based on Vehicles’ Longitudinal Displacement

“…Global Navigation Satellite System (GNSS) is considered as the most commonly used system to find the vehicle global position. Several studies use GNSS signal combined with other sensors, such as Inertial Navigation System (INS), vehicle motion sensors, digital road maps or laser scanners, in order to refine the accuracy of GNSS and to reach the requested precision for autonomous vehicle applications [ 3 , 4 , 5 , 6 , 7 , 8 ]. However, GNSS signal is widely affected by buildings, trees and any other elements that deflect the direct path of electromagnetic waves from satellites to the vehicle.…”

RF Infrastructure Cooperative System for in Lane Vehicle Localization

“…Cluttered edge, shadows, intermittent lane and so on can lead to erroneous line detection. By combining vision systems with DGPS and other sensors one can improve in lane positioning [5] and more recently, "sensor data fusion" systems [6,7] estimate the position and the status (pitch, roll) of the vehicle. They present some improvement in adverse weather conditions.…”