Road vehicle localization with 2D push-broom LIDAR and 3D priors

Journal article

In this paper we describe and demonstrate a method for precisely localizing a road vehicle using a single push-broom 2D laser scanner while leveraging a prior 3D survey. In contrast to conventional scan matching, our laser is oriented downwards, thus causing continual ground strike. Our method exploits this to produce a small 3D swathe of laser data which can be matched statistically within the 3D survey. This swathe generation is predicated upon time varying estimates of vehicle velocity. Wh...

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Authors: Baldwin, I; Newman, P; IEEE

• Publication status: Published
• Journal: 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
• Pages: 2611-2617
• Publication date: 2012-01-01
• DOI: 10.1109/ICRA.2012.6224996
• ISSN: 1050-4729
• Language: English