Abstract
Tall buildings in urban areas obstruct the GPS satellite signal reception, thus the GPS position accuracy can be very poor. However, buildings in urban areas can be used to generate a landmark map for precise vehicle localization. This map’s information can be represented in various forms. We focused on the outer wall of a building that was erected vertically from the ground and almost flat. Therefore, vertical corners that meet the vertical planes are present everywhere in urban areas. These corners can provide very good landmarks and can be extracted using LIDAR. Additionally, traffic signs can be used for localization. The traffic signs are present in the road and reflect light well. Therefore, traffic signs can be clearly distinguished from other structures using LIDAR reflectivity. In this paper, we used building’s vertical corner and traffic signs for vehicle localization in an urban area. In addition, we proposed a vertical structure map with information for vertical corners and traffic signs. The experiment was carried out in the Gangnam area of Seoul, South Korea. The traveling distance was approximately 4.5 km and the maximum traveling speed was approximately 80 km/h. The lateral and longitudinal RMS position errors were 0.118 m and 0.231 m, respectively.
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