Real-Time Localization Method for Autonomous Vehicle Using 3D-LIDAR
Conference Paper, Proceedings of 25th International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD '17), August, 2017
Abstract
Precise and robust localization is a significant task for autonomous vehicles in complex scenarios. In this paper, a novel method is proposed to precisely locate the autonomous vehicle using a 3D-LIDAR sensor. The curb-based feature matching and intensity-based feature matching results are fused to obtain an accurate estimated position. A curb detection method is proposed to extract the curb position and an area probability searching method is proposed to match the intensity feature. Experimental results demonstrate the accuracy and robustness of the proposed method.
BibTeX
@conference{Zhang-2017-112760,author = {Yihuan Zhang and Liang Wang and Jun Wang and John M. Dolan},
title = {Real-Time Localization Method for Autonomous Vehicle Using 3D-LIDAR},
booktitle = {Proceedings of 25th International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD '17)},
year = {2017},
month = {August},
keywords = {autonomous driving, LIDAR, sensor fusion, localization},
}
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