Visual position recognition affects the safety and accuracy of automatic driving. To accurately identify the location, this paper studies a visual place recognition algorithm based on HMM filter and HMM smoother. Firstly, we constructed the traffic situations in Canberra city. Then the mathematical models of the HMM filter and HMM smoother were performed. Finally, the vehicle position was predicted based on the algorithms. Experiment results show that HMM smoother is better than HMM filter in terms of prediction accuracy.

翻译：视觉位置识别会影响自动驾驶的安全和准确性。 为了准确辨别位置,本文研究了基于 HMM 过滤器和 HMM 平滑器的视觉位置识别算法。 首先,我们在堪培拉市构建了交通状况。 然后进行了HMM 过滤器和 HMM 平滑器的数学模型。 最后,根据算法预测了车辆位置。 实验结果表明, HMM 滑动器在预测准确性方面比 HMM 过滤器要好。