LIDAR-Based Lane Marking Detection For Vehicle Positioning in an HD Map
2018 21st International Conference on Intelligent Transportation Systems (ITSC)
Accurate self-vehicle localization is an important task for autonomous driving and ADAS. Current GNSS-based solutions do not provide better than 2-3 m in open-sky environments . Moreover, map-based localization using HD maps became an interesting source of information for intelligent vehicles. In this paper, a Map-based localization using a multilayer LIDAR is proposed. Our method mainly relies on road lane markings and an HD map to achieve lane-level accuracy. At first, road points are
... oad points are segmented by analysing the geometric structure of each returned layer points. Secondly, thanks to LIDAR reflectivity data, road marking points are projected onto a 2D image and then detected using Hough Transform. Detected lane markings are then matched to our HD map using Particle Filter (PF) framework. Experiments are conducted on a Highway-like test track using GPS/INS with RTK correction as ground truth. Our method is capable of providing a lane-level localization with a 22 cm cross-track accuracy.