Vehicle localization in highway tunnels is challenging for autonomous vehicle navigation. The drift error increases because GPS signals from satellites cannot be received inside a highway tunnel. Therefore, map-aided localization is essential for correcting the drift error. However, the environment around the tunnel is composed mainly of elliptical walls, and there are few unique feature points for map matching, unlike the case outdoors. In this paper, we propose a tunnel facility–based precise vehicle localization method for highway tunnels using 3D LIDAR. For vehicle localization, a point landmark map storing the center points of the tunnel facilities and a probability distribution map storing the probability distributions of the lane markings is used. In the proposed method, the tunnel facility points are extracted using 3D LIDAR, and position estimation is conducted using an extended Kalman filter-based navigation filter. The proposed localization algorithm was verified through experiments using actual highway driving data. The experimental results verify that tunnel facility–based vehicle localization yields precise results in various situations.

MOTIVATION: Core sets are necessary to ensure that access to useful alleles or characteristics retained in genebanks is guaranteed. We have successfully developed a computational tool named 'PowerCore' that aims to support the development of core sets by reducing the redundancy of useful alleles and thus enhancing their richness. RESULTS: The program, using a new approach completely different from any other previous methodologies, selects entries of core sets by the advanced M (maximization) strategy implemented through a modified heuristic algorithm. The developed core set has been validated to retain all characteristics for qualitative traits and all classes for quantitative ones. PowerCore effectively selected the accessions with higher diversity representing the entire coverage of variables and gave a 100% reproducible list of entries whenever repeated. AVAILABILITY: PowerCore software uses the .NET Framework Version 1.1 environment which is freely available for the MS Windows platform. The files can be downloaded from http://genebank.rda.go.kr/powercore/. The distribution of the package includes executable programs, sample data and a user manual.