A Low-Cost Lane-Level Navigation Algorithm Based on Visual Information

Pan Jiang, Wei Yan, Hongkai Wang, Yilong Yuan, Jin He, Liang Lin, Chang Liu

Abstract:	Abstract—This paper proposes a low-cost lane-level positioning algorithm. The algorithm introduces visual information on the basis of IMU/odometer/GPS fusion to correct the lateral accuracy and realize lane-level navigation. We divide visual information fusion into three cases to solve the problem of harsh scenes. To verify the effectiveness of the algorithm, we conducted tests on expressways in more than 70 cities in China, with a total test mileage of more than 50,000 kilometers. The experimental results show that the lane matching accuracy is better than 95%. Keywords—lane-level positioning, visual information, multisensor fusion
Published in:	2023 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 24 - 27, 2023 Hyatt Regency Hotel Monterey, CA
Pages:	1380 - 1384
Cite this article:	Jiang, Pan, Yan, Wei, Wang, Hongkai, Yuan, Yilong, He, Jin, Lin, Liang, Liu, Chang, "A Low-Cost Lane-Level Navigation Algorithm Based on Visual Information," 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, April 2023, pp. 1380-1384. https://doi.org/10.1109/PLANS53410.2023.10140120
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