Effective and Low-cost Lane-based Map Localization for Vehicle-Centric Route Generation

2026-06-14

AI Summary

This work addresses the challenge of generating high-precision driving trajectories aligned with the driver’s perspective under low-cost hardware constraints. The authors propose OLRA, a novel framework that, for the first time, integrates map-based navigation paths with visual lane perception. By leveraging a map–vision path matching algorithm and a lightweight sensor fusion strategy, OLRA achieves consistent alignment between vehicle localization and the driver’s intuitive viewpoint. The study further introduces an application-oriented route evaluation metric suite and validates the approach on the nuScenes dataset. Results demonstrate that OLRA significantly outperforms OpenPilot in complex road segments and at distances beyond 20 meters, achieving lower overall Euclidean error and thereby enhancing the intuitiveness and reliability of driving guidance systems.

Abstract

Driver-centric route representation plays a vital role in intuitive driving guidance systems. This paper presents OLRA, a low-cost, map-localization-based framework that derives driver-view-aligned routes by matching map-based navigation routes with camera-detected lane markings. This alignment process mutually enhances vehicle localization accuracy and visual route consistency. To bridge the evaluation gap across different paradigms, we introduce practical route evaluation metrics and benchmark OLRA against OpenPilot, a representative direct-generation approach. Experimental results on the nuScenes dataset demonstrate that OLRA outperforms OpenPilot in complex road segments and in route estimation at distance beyond 20 meters, achieving lower overall Euclidean error. This study is expected to promote future research in low-cost, maplocalization-based route generation methods.

Problem

• map localization
• lane-based
• route generation
• driver-centric
• low-cost

Innovation

• lane-based map localization
• driver-centric route generation
• visual-route alignment
• low-cost navigation
• route evaluation metrics