A Particle Filter Localization Method Using 2D Laser Sensor Measurements and Road Features for Autonomous Vehicle

Autor:	KyungJae Ahn, Yeonsik Kang
Jazyk:	angličtina
Rok vydání:	2019
Předmět:	Transportation engineering TA1001-1280 Transportation and communications HE1-9990
Zdroj:	Journal of Advanced Transportation, Vol 2019 (2019)
Druh dokumentu:	article
ISSN:	0197-6729 2042-3195
DOI:	10.1155/2019/3680181
Popis:	This paper presents a method of particle filter localization for autonomous vehicles, based on two-dimensional (2D) laser sensor measurements and road features. To navigate an urban environment, an autonomous vehicle should be able to estimate its location with a reasonable accuracy. By detecting road features such as curbs and road markings, a grid-based feature map is constructed using 2D laser range finder measurements. Then, a particle filter is employed to accurately estimate the position of the autonomous vehicle. Finally, the performance of the proposed method is verified and compared to accurate Differential Global Positioning Systems (DGPS) data through real road driving experiments.
Databáze:	Directory of Open Access Journals
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