In recent years, automated vehicle researches move on to the next stage, that is, auto-driving experiments on public roads. This study focuses on how to realize accurate localization based on the use of Lidar data and precise map. On different roads such as urban roads and expressways, the observed information of surrounding is significantly different. For example, on the urban roads, many buildings can be observed around the upper part of the vehicle. Such observation realizes accurate map matching. On the other hand, the upper part has no specific observation on the expressway. Therefore, it is necessary to observe the lower part for the map matching. To adapt the situation changes, we propose a localization method based on self-adaptive multi-layered scan matching and road line segment matching. The main idea is to effectively match the features observed from different heights and to improve the results by applying the line segment matching in certain scenes. Localization experiments show the ability to estimate accurate vehicle pose in urban driving.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Urban road localization by using multiple layer map matching and line segment matching


    Contributors:


    Publication date :

    2015-06-01


    Size :

    1634889 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Segment-Based Map Matching

    Chawathe, Sudarshan S. | IEEE | 2007



    Segment-Based Map Matching

    Chawathe, S.S. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2007


    Segment-based stereo matching using graph cuts

    Li Hong, / Chen, G. | IEEE | 2004


    Segment-Based Stereo Matching Using Graph Cuts

    Hong, L. / Chen, G. / IEEE Computer Society | British Library Conference Proceedings | 2004