Various driver assistance systems have been developed in recent years, and now on-board alarm systems suitable for specific locations such as stop-signs and intersections are also anticipated. To realize such systems, thefunction to enables the estimation of precise ego-localization is required. However, conventional GPS only provides positional accuracy to within afew meters, which is not adequate for a practical driver assistance system. Therefore, this paper proposes a new estimation-method for precise ego-localization that uses conventional GPS and outside-monitoring sensors on-board the vehicle. This method does not require the use of highly-precise GPS or high-accuracy feature maps. Furthermore, the effectiveness of this method is verified based on data obtained in an outdoor environment using a laser scanner. For the covering abstract see ITRD E134653.
Samenvatting