TY  - JOUR
PY  - 2017//
TI  - Robust vehicle localization based on detecting of trajectory and white line shapes
JO  - Transactions of Society of Automotive Engineers of Japan
A1  - Hara, Kosuke
A1  - Tanaka, Yusuke
SP  - 1291
EP  - 1296
VL  - 48
IS  - 6
N2  - Vehicle localization based on matching between on-vehicle camera images and high-precision map has been developed for automated driving. We propose a method to associate a map with images by stochastically generating a white line section corresponding to appearance from white line types. Moreover, we propose a robust method by estimating not only the latest location but also the trajectory of the vehicle. The proposed method was tested in Shuto expressway, and the vehicle position was identified with sub-meter accuracy.<p />  <p>Language: ja</p>
LA  - ja
SN  - 0287-8321
UR  - http://dx.doi.org/10.11351/jsaeronbun.48.1291
ID  - ref1
ER  -