This paper presents a method of particle filter localization for autonomous vehicles, based on two-dimensional (2D) laser sensor measurements and road features. To navigate an urban environment, an autonomous vehicle should be able to estimate its location with a reasonable accuracy. By detecting road features such as curbs and road markings, a grid-based feature map is constructed using 2D laser range finder measurements. Then, a particle filter is employed to accurately estimate the position of the autonomous vehicle. Finally, the performance of the proposed method is verified and compared to accurate Differential Global Positioning Systems (DGPS) data through real road driving experiments.
A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle
2019
Aufsatz (Zeitschrift)
Elektronische Ressource
Unbekannt
Metadata by DOAJ is licensed under CC BY-SA 1.0
Particle Filter Based Localization of Autonomous Vehicle
IEEE | 2021
|Sensor fusion of raw GPS measurements for autonomous vehicle localization
BASE | 2016
|Autonomous Passive Localization Algorithm for Road Sensor Networks
Tema Archiv | 2011
|