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

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 on urban streets. The results prove the contribution of road signs and road markings for reducing the trajectory drift as absolute control points.