Automatic guidance of a vehicle based on DGPS and a 3D map

This paper presents an automatic guidance of an autonomous land vehicle based on DGPS and a 3D map. To compensate the positioning error of GPS, we used environmental sensing systems including video cameras, ultrasonic sensors and a 3D scanning laser rangefinder. The 3D map provides 3D environmental information and indicates landmarks for an image processing system to correct the positioning error of GPS. The image processing system also plays the role of obstacle detection. The 3D scanning laser rangefinder is used for speedy and accurate detection of obstacles. This paper describes the DGPS and a 3D map navigated driving system and presents the experimental results.