Landmark Placement Optimization for Accurate Localization in Autonomous Vehicles

Localization is a key factor in modern Autonomous Vehicles, and the necessity of working in complex scenarios requires accurate and reliable localization. While some localization techniques are able to provide an accurate solution, they are not able to guarantee an upper bound in the localization error, which makes them unreliable. This paper presents a localization method based on landmarks with a guaranteed upper error bound. The proposal is based on a landmark placement optimization that guarantees a bounded error in a given environment. The algorithm is validated through multiple experiments that ensure its capacity to work as a localization system in a map-based autonomous vehicle, as well as a reference for the evaluation of other localization algorithms.