EKF localization with lateral distance information for mobile robots in urban environments

This paper proposes the EKF localization with lateral distance information for the mobile robots in urban environments. The mobile robot is assumed to be operated at common roads where the lane marker exists. The lateral distance information given by the lane marker detector is used to compensate the measurement of global positioning system (GPS) before the EKF update step. In addition, the proposed method also uses Mahalanobis distance approach to validate the sensors measurements. The GPS compensation and Mahalanobis distance validation effectively reduce the sensors error, in particular drift error and jumping position of GPS. As a result, the accuracy of the estimated position is better than normal EKF localization.