Vehicle localization using laser scanner

The laser scanner gives the data which makes possible to localize moving vehicles in the environment. Concept of algorithms and its tests by simulation and using real time data are are main subjects of the paper. Although there are many algorithms in this application huge amount of data and iterative operation requires high computing power. The presentation is concerned on searching a methods to decrease number of iterations necessary to find vehicle position and direction of its body in the reference to surroundings. The scan to scan analysis results in estimation or rotation velocity and angle. This method is proposed as initialization stage of ICP or feature points method. The reduction of the computation time is proved by experiments.