Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7115651 | IFAC-PapersOnLine | 2017 | 6 Pages |
Abstract
Precise and robust localization is a significant task for autonomous vehicles in complex scenarios. The accurate position of autonomous vehicles is necessary for decision making and path planning. In this paper, a novel method is proposed to precisely locate the autonomous vehicle using a 3D-LIDAR sensor. First, a curb detection algorithm is performed. Next, a beam model is utilized to extract the contour of the multi-frame curbs. Then, the iterative closest point algorithm and two Kalman filters are employed to estimate the position of autonomous vehicles based on the high-precision map. Finally, experimental results demonstrate the accuracy and robustness of the proposed method.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Liang Wang, Yihuan Zhang, Jun Wang,