Matching highly accurate maps to local environmental perception at road construction sites

Abstract

Detailed and highly accurate digital maps provide useful information for future driver assistance systems. The information of the positions of infrastructure objects and lane markings can be used to extend the knowledge of the environment obtained by local sensors. To exploit highly accurate maps, the exact position of the vehicle within the map must be known. For that, a rough localization with standard GPS is extended by matching objects detected with a laser scanner and data from the map. The paper focuses on road construction sites, which are a demanding environment for sensorial perception and interpretation. The matching algorithms are based on beacons, which are commonly used infrastructure elements at road works.