With the growing automation of road vehicles, the demands on their systems for environment perception increase. As one component the knowledge of one’s own pose (position and orientation) is of great importance. In the project Absolut a highly automated road based People Mover is being established and operated on a route in Leipzig. Among its focusses is the development of a localisation system that provides robust pose estimation under variable ambient conditions. This includes locations with GNSS shadowing and high environmental dynamics. The resulting system relies on information from GNSS, vehicle- and LiDAR odometry. For areas of the route where GNSS positioning cannot be guaranteed a georeferenced point cloud map is generated with offline Simultaneous Localisation and Mapping (SLAM). The paper focuses on a method to locate the vehicle in this map using a 360 \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$360^\circ $$\end{document} LiDAR. The approach is able to determine the global pose of the vehicle online to compensate GNSS-outages. The registration of the current scan in the map is done using the Normal Distribution Transform (NDT). A superimposed particle swarm optimisation (PSO) ensures a fast convergence of the initial state. The summary contains first experiments on the systems performance, as well as an outlook on key points for further development.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Robust Localisation System for an Highly Automated People Mover Based on GNSS- and LiDAR-Data


    Additional title:

    Proceedings


    Contributors:

    Published in:

    Publication date :

    2021-05-14


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    German




    A Robust Localisation System for an Highly Automated People Mover Based on GNSS- and LiDAR-Data

    Beierlein, Georg / Kong, Jinhan / Kutter, Steffen | TIBKAT | 2021


    Automated people mover system "Crystal Mover" for Singapore's LTA

    Mochidome, H. / Masukawa, M. / Suzuki, Y. et al. | Tema Archive | 2003


    New Steering System of Automated People Mover

    Kohno, H. / Morichika, S. / Mochidome, H. et al. | British Library Conference Proceedings | 2005


    Automated People Mover System Alternatives Cost Analysis

    Howell, J. K. / Association francaise des sciences et technologies de l'information et des systemes | British Library Conference Proceedings | 1996


    New steering system of Automated People Mover

    Kohno, Hiroyuki / Morichika, Shunji / Mochidome, Hiroyuki et al. | Tema Archive | 2005