  This paper, for the first time, presents a terrain-based localization
approach using sensor data from an active suspension system. The contribution
is four-fold. First, it is shown that a location dependent road height profile
can be created from sensor data of the active suspension system. Second, an
algorithm is developed to extract a pitch profile from the road height profile
data. The ideal pitch profile is vehicle-independent and only depends on the
road. This pitch profile generated from an on-board computer is matched with a
known terrain map to achieve real-time positioning. Third, a crowd-sourced map
creation algorithm is developed to create and improve the terrain map that
contains pitch profile. Fourth, experiments have been conducted to validate the
accuracy and robustness of the proposed localization approach.
