Precise Vehicle Position and Heading Estimation Using a Binary Road Marking Map

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">RMS error (m)</td><td class="align_center">GPS/DR</td><td class="align_center">Intensity map</td><td class="align_center">Binary map</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">Lateral</td><td class="align_center">8.78</td><td class="align_center">0.19</td><td class="align_center">0.05</td></tr><tr><td class="align_left">Longitudinal</td><td class="align_center">9.66</td><td class="align_center">0.32</td><td class="align_center">0.08</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Journal of Sensors

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Table 4

Table 4: Precise Vehicle Position and Heading Estimation Using a Binary Road Marking Map 