Mono-camera based localization using digital map

This paper reports an image-based localization for automated vehicle. The proposed method utilizes a mono-camera and a low-cost velocity and inertial sensor to estimate the vehicle pose. Image template matching is applied to provide a correlation distribution between the captured image and a vector structured digital map. A probability of the vehicle pose is then updated using the obtained correlation. The experiments were carried out for real driving data on an expressway. We evaluated the proposed method for daytime and nighttime driving data under different lighting conditions. The results have verified that the proposed method estimates reasonable positioning errors on real-time comparing with a low-cost GNSS/INS.

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