Lane-based vehicle localization in urban environments

Vehicle self-localization is an important aspect of intelligent transportation systems. Global Positioning Systems (GPS) which provide vehicle localization information play an important role in these systems. However, GPS is challenged in urban environments where satellite visibility and multipath situations are unavoidable. In this contribution we propose a method by which vehicular speed and a map-based lane detection process are called upon to improve the positional accuracy of GPS. Experimental results with urban driving sequences demonstrate that our approach significantly improves the accuracy of positioning the vehicle as compared with systems solely relying on GPS.