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Lane-Level Map Matc...
Lane-Level Map Matching based on HMM
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- Hansson, Anders (författare)
- Zenuity AB
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- Korsberg, Ellen (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Maghsood, Roza (författare)
- Zenuity AB
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- Nordén, Eliza (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Selpi, Selpi, 1977 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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(creator_code:org_t)
- 2021
- 2021
- Engelska.
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Ingår i: IEEE Transactions on Intelligent Vehicles. - 2379-8858. ; 6:3, s. 430-439
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https://research.cha... (primary) (free)
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https://research.cha...
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https://doi.org/10.1...
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https://research.cha...
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Abstract
Ämnesord
Stäng
- Lane-level map matching is essential for autonomous driving. In this paper, we propose a Hidden Markov Model (HMM) for matching a trajectory of noisy GPS measurements to the road lanes in which the vehicle records its positions. To our knowledge, this is the first time that HMM is used for lanelevel map matching. Apart from GPS values, the model is further assisted by yaw rate data (converted to a lane change indicator signal) and visual cues in the form of the left and right lane marking types (dashed, solid, etc.). Having defined expressions for the HMM emission and transition probabilities, we evaluate our model to demonstrate that it achieves 95.1% recall and 3.3% median path length error for motorway trajectories.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Annan data- och informationsvetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Other Computer and Information Science (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Annan teknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Other Engineering and Technologies (hsv//eng)
- NATURVETENSKAP -- Matematik -- Sannolikhetsteori och statistik (hsv//swe)
- NATURAL SCIENCES -- Mathematics -- Probability Theory and Statistics (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Nyckelord
- map matching
- Viterbi algorithm
- road networks
- lane-level map matching
- hidden Markov model
Publikations- och innehållstyp
- art (ämneskategori)
- ref (ämneskategori)
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