Real-time localization method for autonomous vehicle using 3D-LIDAR

被引：0
|
作者：
Zhang, Yihuan [1 ]
Wang, Liang [1 ]
Wang, Jun [1 ]
Dolan, John M. [2 ]
机构：
[1] Tongji Univ, Dept Control Sci & Engn, Shanghai, Peoples R China
[2] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA
来源：
DYNAMICS OF VEHICLES ON ROADS AND TRACKS, VOL 1 | 2018年
基金：
中国国家自然科学基金;
关键词：
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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.
引用
收藏
页码：271 / 276
页数：6
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