Investigation on Robustness of Vehicle Localization Using Cameras and LiDAR

Abstract

Vehicle self-localization is one of the most important capabilities for automated driving. Current localization methods already provide accuracy in the centimeter range, so robustness becomes a key factor, especially in urban environments. There is no commonly used standard metric for the robustness of localization systems, but a set of different approaches. Here, we show a novel robustness score that combines different aspects of robustness and evaluate a graph-based localization method with the help of fault injections. In addition, we investigate the influence of semantic class information on robustness with a layered landmark model. By using the perturbation injections and our novel robustness score for test drives, system vulnerabilities or possible improvements are identified. Furthermore, we demonstrate that semantic class information allows early discarding of misclassified dynamic objects such as pedestrians, thus improving false-positive rates. This work provides a method for the robustness evaluation of landmark-based localization systems that are also capable of measuring the impact of semantic class information for vehicle self-localization.

Keywords

• self-localization
• robustness
• automated driving
• landmark classification
• sensor data fusion