Topology-Consistent Trajectory Event Matching for GNSS-Denied Vehicle Initial Localization.
- 1Faculty of Electrical Engineering and Computer Science, Ningbo University, Ningbo 315211, China.
- 2System Engineering Institute of Sichuan Aerospace, Chengdu 610100, China.
Abstract
Vehicle initial localization under global navigation satellite system (GNSS)-denied conditions remains challenging because an odometry trajectory provides relative motion but no absolute road-network reference. Inspired by the coordinated use of self-motion information, recognizable route cues, and route continuity in biological navigation, this paper proposes a topology-consistent trajectory-event matching method. The method organizes odometry into ordered trajectory structure pairs formed by adjacent normal turning events and their intervening corridors, while a standard road-network map is automatically enhanced with internal direction-change points to construct corresponding map-side structures. Local candidates are retrieved according to direction, length, turning, and corridor-morphology consistency, and successive candidates are jointly confirmed under topological continuity. The confirmed discrete correspondence is then refined by local trajectory-image matching to estimate the continuous starting position. Experiments on KITTI-360 sequences 00, 08, and 09 with 135 starting positions yield an overall initialization success rate of 88.9%; successful trials achieve a mean error of 2.46 m and a median error of 2.29 m. The results show consistent performance across the evaluated road scenarios while indicating that sparse turning events and locally ambiguous road structures remain important limiting conditions.
Related
- Normal-Data-Only Fault Detection and Faulty-Cell Localization in Heterogeneous Electric-Vehicle Battery Packs Using a Hotspot-Suppressed and Alarm-Consistent Dual-Branch Attention Transformer
- Vehicle trajectory prediction with temporal–channel attention and GRU
- HM-GAT: Vehicle Trajectory Prediction Based on Hierarchical Mamba and Graph Attention Networks
- GIS and landmark-aided autonomous vehicle localization for navigation continuity in urban corridors
- Structural topology optimization of railway vehicle wheel damping plates considering acoustic-vibration interaction
BibTeX
@article{cai2026topologyconsistent,
title = {{Topology-Consistent Trajectory Event Matching for GNSS-Denied Vehicle Initial Localization.}},
author = {Haoxin Cai and Minghong Zhu and Weiqi Xu and Ming Jin and Chen Hua and Zhenpeng Wang},
journal = {Biomimetics (Basel, Switzerland)},
year = {2026},
month = oct,
doi = {10.3390/biomimetics11100761},
url = {https://europepmc.org/article/MED/42930313},
note = {CC BY},
}
RIS
TY - JOUR
TI - Topology-Consistent Trajectory Event Matching for GNSS-Denied Vehicle Initial Localization.
AU - Haoxin Cai
AU - Minghong Zhu
AU - Weiqi Xu
AU - Ming Jin
AU - Chen Hua
AU - Zhenpeng Wang
PY - 2026
DA - 2026/10/21
JO - Biomimetics (Basel, Switzerland)
DO - 10.3390/biomimetics11100761
UR - https://europepmc.org/article/MED/42930313
AB - Vehicle initial localization under global navigation satellite system (GNSS)-denied conditions remains challenging because an odometry trajectory provides relative motion but no absolute road-network reference. Inspired by the coordinated use of self-motion information, recognizable route cues, and route continuity in biological navigation, this paper proposes a topology-consistent trajectory-event matching method. The method organizes odometry into ordered trajectory structure pairs formed by adjacent normal turning events and their intervening corridors, while a standard road-network map is automatically enhanced with internal direction-change points to construct corresponding map-side structures. Local candidates are retrieved according to direction, length, turning, and corridor-morphology consistency, and successive candidates are jointly confirmed under topological continuity. The confirmed discrete correspondence is then refined by local trajectory-image matching to estimate the continuous starting position. Experiments on KITTI-360 sequences 00, 08, and 09 with 135 starting positions yield an overall initialization success rate of 88.9%; successful trials achieve a mean error of 2.46 m and a median error of 2.29 m. The results show consistent performance across the evaluated road scenarios while indicating that sparse turning events and locally ambiguous road structures remain important limiting conditions.
SN - 2313-7673
ER -