Laser Radar based Vehicle Localization in GPS Signal Blocked Areas

DOI

10.2991/ijcis.2011.4.6.1How to use a DOI?

Keywords

GPS Signal Blocked, Vehicle Localization, Mapping, Map Optimization.

Abstract

Reliable vehicle localization is a basic requirement in many applications in transportation field. GPS-based localization is quite popular nowadays. However, in urban environments applications, signal of GPS is often blocked by surrounding objects like high-rise buildings, tunnels, overhead roads, etc, making localization information unavailable. This paper proposed a laser radar based map matching approach to address this problem, especially when GPS signal blocked area is large. The proposed approach includes mapping and localization. In the mapping, after map initialization sensor data constraints are linearized to formulate an optimal linear estimation based map optimization framework, which can improve map accuracy effectively. In the localization, vehicle pose is estimated by matching the current laser scan with the best submap and by a UKF (Unscented Kalman Filter) based fusion strategy. Results from both synthetic and real experiments show good performance of the proposed approach. Keywords: GPS Signal Blocked, Vehicle Localization, Mapping, Map Optimization

Copyright

© 2011, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - JOUR
AU  - Ming Yang
AU  - Chunxiang Wang
AU  - Hui Fang
AU  - Bing Wang
PY  - 2011
DA  - 2011/12/01
TI  - Laser Radar based Vehicle Localization in GPS Signal Blocked Areas
JO  - International Journal of Computational Intelligence Systems
SP  - 1100
EP  - 1109
VL  - 4
IS  - 6
SN  - 1875-6883
UR  - https://doi.org/10.2991/ijcis.2011.4.6.1
DO  - 10.2991/ijcis.2011.4.6.1
ID  - Yang2011
ER  -