Title :
Smooth localization independent of GPS using coarse height maps
Author :
Chongyang Wei ; Tao Wu ; Hao Fu
Author_Institution :
Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha, China
Abstract :
This paper presents a new map-based localization approach for autonomous ground vehicle. To build a highly precise map, state-of-the-art methods usually explore the SLAM strategy with the assumption that it must involve loop closure. However, this assumption cannot be met in many real world scenarios. In this work we propose a novel algorithm to generate a coarse height map with the imprecise GPS pose. The vehicle position is estimated by registering feature points from the prior map with the ones in the current scans. We validate the effectiveness of our algorithm by localizing our vehicle in urban environment. Results show the method does not require GPS and can overcome the weakness of sudden jumping of GPS position and finally achieve real-time decimeter-level localization.
Keywords :
Global Positioning System; SLAM (robots); cartography; mobile robots; pose estimation; GPS pose; SLAM strategy; autonomous ground vehicle; coarse height map; feature point; loop closure; map-based localization approach; real-time decimeter-level localization; smooth localization independent; urban environment; vehicle position estimation; Accuracy; Feature extraction; Global Positioning System; Laser radar; Roads; Three-dimensional displays; Vehicles; Coarse Map; Real-time; Vehicle Localization;
Conference_Titel :
Control and Decision Conference (CCDC), 2015 27th Chinese
Conference_Location :
Qingdao
Print_ISBN :
978-1-4799-7016-2
DOI :
10.1109/CCDC.2015.7162620