1. Feature-refined box particle filtering for autonomous vehicle localisation with OpenStreetMap.
- Author
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Wang, Peng, Mihaylova, Lyudmila, Bonnifait, Philippe, Xu, Philippe, and Jiang, Jianwen
- Subjects
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OPTICAL radar , *LIDAR , *AIR filters , *AUTONOMOUS vehicles , *INTERVAL analysis , *ROAD maps - Abstract
Vehicle localisation is an important and challenging task in achieving autonomous driving. This work presents a box particle filter framework for vehicle self-localisation in the presence of sensor and map uncertainties. The proposed feature-refined box particle filter incorporates line features extracted from a multi-layer Light Detection And Ranging (LiDAR) sensor and information from OpenStreetMap to estimate vehicle states. A particle weight balance strategy is incorporated to account for the OpenStreetMap positional inaccuracy, which is assessed by comparing it to a high definition road map. The performance of the proposed framework is evaluated on a LiDAR dataset and compared with box particle filter variants. Experimental results show that the proposed framework achieves respectively 10% and 53% localisation performance improvement with reduced box volumes of 25% and 41%, when compared with the state-of-the-art interval analysis based box regularisation particle filter and the box particle filter. • The FRBPF is proposed to deal with OpenStreetMap and sensor data uncertainties. • A contraction algorithm is developed to reduce the volume of box particles. • Theoretical proofs about the features-refined contractions are derived. • A weight balance strategy is designed to improve the performance of FRBPF. [ABSTRACT FROM AUTHOR]
- Published
- 2021
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