Simultaneous map-plotting and localization method for unknown driving environment

Localization is a key issue for automatic navigation of autonomous vehicles. In this article, a simultaneous map-plotting and localization method for an autonomous vehicle is proposed. We use a laser detection and ranging sensor to detect the operating environment. An environment map is plot out using the sensor output data. Then, with an odometer, the vehicle position is located on this map. Finally, the two sensor outputs are merged using a Kalman filter to correct the map as well as the vehicle position.