By Topic

Precise ego-localization in urban areas using Laserscanner and high accuracy feature maps

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Weiss, T. ; Dept. of Meas., Control & Microtechnol., Ulm Univ., Germany ; Kaempchen, N. ; Dietmayer, K.

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.

Published in:

Intelligent Vehicles Symposium, 2005. Proceedings. IEEE

Date of Conference:

6-8 June 2005