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

Abstract:

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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Publication status:
Published

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Publisher copy:
10.1109/ICRA.2012.6224996
Journal:
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) More from this journal
Pages:
2611-2617
Publication date:
2012-01-01
DOI:
ISSN:
1050-4729
Language:
English
Pubs id:
pubs:348859
UUID:
uuid:6e052cc0-1660-46cf-83f8-145882d31ffc
Local pid:
pubs:348859
Source identifiers:
348859
Deposit date:
2013-11-17

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