Apply Image Identification to Improve the Localization of the Self-Driving Vehicles

Abstract

Location failure is dangerous for self-driving vehicles. Adaptive Monte Carlo Localization (AMCL)[1] provides wrong coordinates to the self-driving controller in some specific conditions. This paper proposed a scheme to solve this problem. This scheme provides a reference location to AMCL, which could exactly give coordinates to the self-driving controller. The experiment results showed that this reference location could improve the performance of AMCL to provide precise coordinates to the self-driving controller. In addition, to provide reference location to AMCL, this proposed scheme applied Convolutional Neural Network (CNN)[2] to identify the specific scenery front the vehicle. Accordingly, detect particular views will be another challenge for self-driving vehicles.