作者
Yihuan Zhang, Liang Wang, Jun Wang, John Dolan
发表日期
2017/8
机构
The 25th International Symposium on Dynamics of Vehicles on Roads and Tracks (IAVSD)
简介
Precise and robust localization is a significant task for autonomous vehicles in complex scenarios. In this paper, a novel method is proposed to precisely locate the autonomous vehicle using a 3D-LIDAR sensor. The curb-based feature matching and intensity-based feature matching results are fused to obtain an accurate estimated position. A curb detection method is proposed to extract the curb position and an area probability searching method is proposed to match the intensity feature. Experimental results demonstrate the accuracy and robustness of the proposed method.
引用总数
20192020202120222023113
学术搜索中的文章
Y Zhang, L Wang, J Wang, JM Dolan - Dynamics of Vehicles on Roads and Tracks Vol 1, 2017