Horizontal/vertical LRFs and GIS maps aided vehicle localization in urban environment

A vehicle localization method is proposed in this paper using two horizontal/vertical laser range finders (LRF) and a geographical information system (GIS). When global positioning system (GPS) signals are blocked in some urban areas, e.g. urban canyons, the vehicle motion information can be provided by several dead-reckoning sensors, and corrected by local observations from onboard LRFs and road/building maps. Experiments with real data demonstrate that when GPS signals are blocked or present large jumps, the road map can help to bound the vehicle position around the road; and the building map can help to adjust the vehicle pose from coarse-to-fine such that the local observation can be coherent with the building map. Newly observed landmarks are stored in another map layer to update initial maps over time.

Language

  • English

Media Info

  • Media Type: Web
  • Features: References;
  • Pagination: pp 809-814
  • Monograph Title: 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013)

Subject/Index Terms

Filing Info

  • Accession Number: 01563496
  • Record Type: Publication
  • ISBN: 9781479929146
  • Files: TRIS
  • Created Date: May 5 2015 10:58AM