Enhanced Local Maps in a GIS for a Precise Localisation in Urban Areas

This paper addresses the problem of localizing a Cybercar in urban environments by using information provided by onboard sensors. For this purpose, sensors detect landmarks which have been characterized in a previous passage. As the amount of data can be significantly large, we propose a strategy to manage this information in a GIS (geographical information system). We illustrate our developments by using laser landmarks that are gathered in enhanced local maps that correspond to the roads of a GIS layer thanks to the use of L1 GPS data and proprioceptive sensors. Real experiments are reported to illustrate the performance of this approach