Abstract
The past decade has witnessed an acceleration of autonomous vehicle research and development, with technological advances contributed by academia, government, and the industrial and consumer sectors. These advancements hold the potential to improve society by enhancing transportation safety and throughput, where decreased congestion saves time and reduces vehicle emissions. Two of the key technologies to enable vehicle infrastructure interaction, advanced traffic management, and automated vehicles are automated roadway mapping and reliable vehicle state estimation. In this paper, we present an overview and new methods for the problems automated roadway mapping plus a discussion of the extension of these methods to the problem of vehicle state estimation. Results from the application of these methods to feature mapping and state estimation are presented.
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