Vehicle Localization Using Crowdsourced Data Collected on Urban Roads
Abstract
:1. Introduction
2. Localization Based on Crowdsourced Data
2.1. Crowdsourced Data and HD Maps
2.2. Bidirectional Local Tracking with Map Matching
2.3. Local Pose Graph Optimization
3. Localization Diagnosis
3.1. Odometry-Based Keyframe Pose Diagnosis
3.2. Pose Clustering with Outlier Filtering
4. Evaluation
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Area | Length of Link (km) | Driving Distance (km) | Rejection (%) | Raw Data (%) | Proposed (%) |
---|---|---|---|---|---|
1 | 5.8 | 340.8 | 63.8 | 72.0 | 94.5 |
2 | 4.3 | 338.4 | 67.5 | 63.9 | 90.2 |
3 | 10.6 | 1289.8 | 52.8 | 74.4 | 91.8 |
4 | 2.2 | 945.7 | 48.4 | 75.0 | 88.3 |
5 | 6.0 | 763.3 | 69.4 | 54.4 | 89.6 |
6 | 3.3 | 386.0 | 51.1 | 75.6 | 92.7 |
7 | 2.2 | 71.8 | 57.5 | 72.2 | 98.3 |
8 | 0.7 | 77.7 | 62.8 | 75.1 | 91.8 |
Overall | 35.1 | 4213.5 | 57.0 | 69.9 | 90.9 |
Method | Accuracy (m) | Precision (m) |
---|---|---|
Raw data (p) | 1.05 | 1.46 |
Proposed | 0.53 | 0.78 |
Method | Accuracy (m) | Precision (m) |
---|---|---|
Raw data (p) | 0.29 | 0.39 |
Proposed | 0.21 | 0.21 |
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Cho, S.; Chung, W. Vehicle Localization Using Crowdsourced Data Collected on Urban Roads. Sensors 2024, 24, 5531. https://doi.org/10.3390/s24175531
Cho S, Chung W. Vehicle Localization Using Crowdsourced Data Collected on Urban Roads. Sensors. 2024; 24(17):5531. https://doi.org/10.3390/s24175531
Chicago/Turabian StyleCho, Soohyun, and Woojin Chung. 2024. "Vehicle Localization Using Crowdsourced Data Collected on Urban Roads" Sensors 24, no. 17: 5531. https://doi.org/10.3390/s24175531