| Title: | OS22-2 Road Marking Map Matching for Road Vehicle Localization |
|---|---|
| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 771-774 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.OS22-2 |
| Author(s): | Kyu Won Kim, Gyu In Jee |
| Publication Date: | February 2, 2018 |
| Keywords: | autonomous vehicle, 3D LIDAR, binary road marking map, map matching |
| Abstract: | In this paper, we propose map matching algorithm using road marking intensity map made of 3D LIDAR. The road marking is very useful in terms of availability because it is existed anywhere on the vehicle. The map matching algorithm is used phase correlation using FFT to enable very fast matching. In addition, the road marking map is generated by binarizing the intensity. As a result, a large-scale global map can be stored with a small capacity. Also, LIDAR scan data was accumulated for generating a high precise density local map. Accumulated local map can be supported sufficient information, especially longitudinal information. Therefore, it can be more robust and precise vehicle localization. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS22/OS22-2.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
(c)2008 Copyright The Regents of ALife Robotics Corporation Ltd. All Rights Reserved.