ArticleSensors (Basel, Switzerland)2026
Integrated LiDAR-Based Localization Correction Using a Dedicated Support Sign for Autonomous Vehicles.
Article in Sensors (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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5 authors.
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Abstract
Accurate vehicle localization must be maintained even in tunnel sections where GNSS reliability is degraded. However, conventional GNSS/INS-based localization rapidly accumulates errors in such environments, affecting lane-level decision-making and path-following stability. To address this problem, this study proposes a dedicated localization support sign for stable LiDAR observation and a point-cloud-registration-based correction algorithm. The proposed method detects a dedicated sign using a PointPillars-based detector, and the corresponding point cloud is registered to a pre-built reference map to estimate a rigid correction transform online. The sign was installed in a tunnel section of a proving ground that reproduces real-road conditions. For evaluation, the driving sequence was analyzed by separating the pre-entry section, the tunnel section before dedicated-sign recognition, and the section after dedicated-sign recognition. The proposed pipeline substantially reduced localization error after dedicated-sign recognition, compared with the GNSS/INS-only baseline. The dedicated sign also provided more stable correction than ordinary tunnel structures within the same registration pipeline. These results indicate that the proposed LiDAR-based pipeline can suppress localization drift in GNSS-degraded sections.
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