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Monocular Localization with Vector HD Map (MLVHM): A Low-Cost Method for Commercial IVs.

Zhongyang Xiao1, Diange Yang1, Tuopu Wen1

  • 1State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China.

Sensors (Basel, Switzerland)
|April 2, 2020
PubMed
Summary

This study introduces Monocular Localization with Vector HD Map (MLVHM), a low-cost camera-based method for precise vehicle localization. MLVHM achieves high accuracy without cumulative error, using semantic features and vector maps.

Keywords:
HD mapOpenDrivemonocular camerasemantic featuresvehicular localization

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Area of Science:

  • Computer Vision
  • Robotics
  • Geospatial Technology

Background:

  • Accurate real-time vehicle localization is crucial for intelligent vehicles (IVs).
  • High-cost sensors like RTK GNSS and LiDAR are often avoided for commercial viability.
  • Low-cost optical sensors and High Definition (HD) maps are increasingly adopted.

Purpose of the Study:

  • To present Monocular Localization with Vector HD Map (MLVHM), a novel, cost-effective camera-based localization method.
  • To achieve high-precision vehicle absolute localization using semantic-level feature matching against vector HD maps.
  • To demonstrate the feasibility of using minimal-cost sensors for robust localization.

Main Methods:

  • MLVHM employs semantic-level geometric feature alignment between camera frames and vector HD maps.
  • Semantic features are selected for ease of alignment and resilience to environmental variations (occlusion, illumination).
  • Data association minimizes feature re-projection errors for camera position estimation, enhanced by frame-to-frame motion fusion.

Main Results:

  • MLVHM achieves high-precision vehicle localization with a Root Mean Square Error (RMSE) of 24 cm.
  • The method demonstrates no cumulative error in localization.
  • Performance meets or exceeds existing map-matching algorithms using low-cost sensors and lightweight HD maps.

Conclusions:

  • MLVHM offers a cost-effective solution for high-precision vehicle localization.
  • The approach leverages readily available technologies like cameras and HD maps.
  • This method enables robust and accurate localization essential for the commercialization of intelligent vehicles.