Localization Based on Lidar and GNSS for Connected Vehicles

Jae-Hoon Ahn and Jong-Hoon Won

Abstract: Localization using GNSS alone may cause relatively large errors due to problems such as multipath and satellite visibility especially in urban areas compared to open areas. Many techniques for improving position accuracy using ADAS sensors such as cameras and Lidar were studied. In case of camera, performance decreases due to external environment such as illuminance is problematic, whereas the algorithm using Lidar is relatively robust to external factors, having less performance degradation than camera. V2X is ideally suited to obtain the navigation information of the surrounding objects. In this paper, we propose a localization method using the information of the surrounding objects acquired with V2X which can know the position in the navigation coordinate system and the Lidar which can know the relative position in the coordinate system of the center of the user's vehicle. Simulation results obtain by using a real-time driving simulator are included in the paper to show the performance of the proposed methods.
Published in: 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)
April 20 - 23, 2020
Hilton Portland Downtown
Portland, Oregon
Pages: 908 - 914
Cite this article: Ahn, Jae-Hoon, Won, Jong-Hoon, "Localization Based on Lidar and GNSS for Connected Vehicles," 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), Portland, Oregon, April 2020, pp. 908-914.
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