Title :
Synthetic 2D LIDAR for precise vehicle localization in 3D urban environment
Author :
Chong, Z.J. ; Qin, B. ; Bandyopadhyay, T. ; Ang, M.H. ; Frazzoli, Emilio ; Rus, Daniela
Author_Institution :
Nat. Univ. of Singapore, Singapore, Singapore
Abstract :
This paper presents a precise localization algorithm for vehicles in 3D urban environment with only one 2D LIDAR and odometry information. A novel idea of synthetic 2D LIDAR is proposed to solve the localization problem on a virtual 2D plane. A Monte Carlo Localization scheme is adopted for vehicle position estimation, based on synthetic LIDAR measurements and odometry information. The accuracy and robustness of the proposed algorithm are demonstrated by performing real time localization in a 1.5 km driving test around the NUS campus area.
Keywords :
Monte Carlo methods; distance measurement; mobile robots; optical radar; path planning; pose estimation; position measurement; robot vision; 3D urban environment; Monte Carlo localization scheme; NUS campus area; mobile robot localization; odometry information; precise vehicle localization algorithm; synthetic 2D LIDAR; synthetic LIDAR measurements; vehicle position estimation; virtual 2D plane; Estimation; Feature extraction; Laser radar; Roads; Three-dimensional displays; Urban areas; Vehicles;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6630777
