LaneLoc: Lane marking based localization using highly accurate maps

Precise and robust localization in real-world traffic scenarios is a new challenge arising in the context of autonomous driving and future driver assistance systems. The required precision is in the range of a few centimeters. In urban areas this precision cannot be achieved by standard global navigation satellite systems (GNSS). Our novel approach achieves this requirement using a stereo camera system and a highly accurate map containing curbs and road markings. The maps are created beforehand using an extended sensor setup. GNSS position is used for initialization only and is not required during the localization process. In the paper we present the localization process and provide an evaluation on a test track under known conditions as well as a long term evaluation on approximately 50 km of rural roads, where a precision in centimeter-range is achieved.