차량정밀측위를 위한 복합측위 기술 동향

Abstract

This paper provides an overview of recent trends in sensor fusion technologies for vehicle positioning. The GNSS by itself cannot satisfy precision and reliability required by autonomous driving. We survey sensor fusion techniques that combine the outputs from the GNSS and the inertial navigation sensors such as an odometer and a gyroscope. Moreover, we overview landmark-based positioning that matches landmarks detected by a lidar or a stereo vision to high-precision digital maps.