Localization using OSM landmarks

  • Maximilian Kunz Technische Universität Kaiserslautern
  • Axel Vierling Technische Universität Kaiserslautern
  • Patrick Wolf Technische Universität Kaiserslautern
  • Karsten Berns Technische Universität Kaiserslautern


This paper presents an algorithm that uses data from the OpenStreetMap (OSM) project to complement the localization based on a Global Navigation Satellite System (GNSS). The landmarks extracted from OSM serve as a set of reference points and are compared to objects currently detected by a detector. The algorithm uses several metrics to find a match and calculate an estimated location. The goal is to improve high-level localization since in urban environments the freedom of movement is often restricted to defined paths like streets or paved ways. To store and compare the expected and detected objects, a scene graph is used to deal with the high-level logical landmarks around the robot. By doing so, we can broadly localize our self and integrate the knowledge of our expected surrounding based on OSM data.
Palavras-chave: Location awareness, Measurement, Global navigation satellite system, Conferences, Urban areas, Education, Detectors
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KUNZ, Maximilian; VIERLING, Axel; WOLF, Patrick; BERNS, Karsten. Localization using OSM landmarks. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 13. , 2021, Online. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2021 . p. 228-233.