Augmenting Vehicle Localization Accuracy with Cameras and 3D Road Infrastructure Database

  • Lijun WeiEmail author
  • Bahman Soheilian
  • Valérie Gouet-Brunet
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8925)


Accurate and continuous vehicle localization in urban environments has been an important research problem in recent years. In this paper, we propose a landmark based localization method using road signs and road markings. The principle is to associate the online detections from onboard cameras with the landmarks in a pre-generated road infrastructure database, then to adjust the raw vehicle pose predicted by the inertial sensors. This method was evaluated with data sequences acquired in urban streets. The results prove the contribution of road signs and road markings for reducing the trajectory drift as absolute control points.


Vehicle localization Road infrastructure database Road signs Road markings 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Lijun Wei
    • 1
    Email author
  • Bahman Soheilian
    • 1
  • Valérie Gouet-Brunet
    • 1
  1. 1.IGN, SRIG, MATISUniversité Paris-EstSaint MandéFrance

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