A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle

<div>Glass bead in the lane marking and the experimental site used for road feature extraction: (a) the retroreflection phenomenon of the lane marking and (b) a section of the experimental site.</div>

Journal of Advanced Transportation

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Figure 2: A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle 