Topology-Consistent Trajectory Event Matching for GNSS-Denied Vehicle Initial Localization
Year: 2026
Type: article
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.
Source: Biomimetics
Institution: Ningbo University
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,654
OpenAlex ID: W7223157454