Robust LIDAR localization using multiresolution Gaussian mixture maps for autonomous driving
| Autor: | Ryan M. Eustice, Ryan W. Wolcott |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Scanner Computer science Gaussian 02 engineering and technology symbols.namesake 020901 industrial engineering & automation Probabilistic method Artificial Intelligence 0202 electrical engineering electronic engineering information engineering Computer vision Electrical and Electronic Engineering Remote sensing Adverse weather Light detection business.industry Applied Mathematics Mechanical Engineering Ranging Lidar Modeling and Simulation Road surface symbols 020201 artificial intelligence & image processing Artificial intelligence business Software |
| Zdroj: | The International Journal of Robotics Research. 36:292-319 |
| ISSN: | 1741-3176 0278-3649 |
| Popis: | This paper reports on a fast multiresolution scan matcher for local vehicle localization of self-driving cars. State-of-the-art approaches to vehicle localization rely on observing road surface reflectivity with a 3D light detection and ranging (LIDAR) scanner to achieve centimeter-level accuracy. However, these approaches can often fail when faced with adverse weather conditions that obscure the view of the road paint (e.g. puddles and snowdrifts), poor road surface texture, or when road appearance degrades over time. We present a generic probabilistic method for localizing an autonomous vehicle equipped with a three-dimensional (3D) LIDAR scanner. This proposed algorithm models the world as a mixture of several Gaussians, characterizing the [Formula: see text]-height and reflectivity distribution of the environment—which we rasterize to facilitate fast and exact multiresolution inference. Results are shown on a collection of datasets totaling over 500 km of road data covering highway, rural, residential, and urban roadways, in which we demonstrate our method to be robust through heavy snowfall and roadway repavements. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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