Map-based localization for intelligent vehicles from bi-sensor data fusion

Yicheng Li, Yingfeng Cai, Zhixiong Li, Shizhe Feng, Hai Wang, Miguel Ángel Sotelo

Abstract: Highlights•A novel map-based localization method from multi-sensor data fusion is proposed.•Four different sensors are used to generate a multi-scale map.•The mean localization error is less than 0.2 m in the field test.