The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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Overview of sensor fusion techniques for vehicle positioning

차량정밀측위를 위한 복합측위 기술 동향

  • 박진원 (서울과학기술대학교 컴퓨터공학과) ;
  • 최계원 (서울과학기술대학교 컴퓨터공학과)
  • Received : 2016.01.25
  • Accepted : 2016.02.24
  • Published : 2016.02.25
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Abstract

This paper provides an overview of recent trends in sensor fusion technologies for vehicle positioning. The GNSS by itself cannot satisfy precision and reliability required by autonomous driving. We survey sensor fusion techniques that combine the outputs from the GNSS and the inertial navigation sensors such as an odometer and a gyroscope. Moreover, we overview landmark-based positioning that matches landmarks detected by a lidar or a stereo vision to high-precision digital maps.

본 논문에서는 차량정밀측위를 위한 센서융합 기술의 최근 동향에 대해 다룬다. GNSS 만으로는 자율주행에서 요구하는 정밀측위의 정확도 및 신뢰도를 만족시킬 수 없다. 본 논문에서는 GNSS와 주행계, 자이로스코프 등의 관성항법 센서를 결합하는 복합측위 기술을 소개한다. 또한 라이다 및 스테레오 비전에서 탐지된 랜드마크를 정밀지도에 수록된 정보와 매칭시키는 측위 기법의 최근 동향을 소개한다.

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