Title :
Precise ego-localization in urban areas using Laserscanner and high accuracy feature maps
Author :
Weiss, Thorsten ; Kaempchen, Nico ; Dietmayer, Klaus
Author_Institution :
Dept. of Meas., Control & Microtechnol., Ulm Univ., Germany
Abstract :
Robust ego-localization is an essential technology for future intelligent vehicles and cooperative applications. In this paper a new localization algorithm based on IBEO AS Laserscanners and high accuracy digital maps is proposed. Algorithms to create accurate grid maps with Laserscanners and the extraction of static objects used as landmarks for ego-localization is introduced. The key problem in landmark navigation in urban areas is the localization of landmarks in distance profiles of a Laserscanner. A fast algorithm is presented, that associates landmarks with data of a Laserscanner which is robust against large rotational, and translational position errors. A position correction algorithm determines the vehicles ego position in WGS-84 coordinates also often used by GPS and navigation maps.
Keywords :
Global Positioning System; automated highways; driver information systems; feature extraction; image segmentation; object detection; optical scanners; road safety; road traffic; road vehicles; GPS; IBEO AS Laserscanners; WGS-84 coordinates; cooperative application; digital map; feature maps; grid maps; intelligent vehicles; landmark navigation; position correction algorithm; rotational position error; static object extraction; translational position error; urban area ego-localization algorithm; Data mining; Global Positioning System; Intelligent vehicles; Navigation; Position measurement; Roads; Urban areas; Vehicle driving; Vehicle safety; Velocity measurement;
Conference_Titel :
Intelligent Vehicles Symposium, 2005. Proceedings. IEEE
Print_ISBN :
0-7803-8961-1
DOI :
10.1109/IVS.2005.1505116