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Communication Dans Un Congrès Année : 2004

Simultaneous map-plotting and localization method for unknown driving environment

Résumé

Localization is a key issue for automatic navigation of autonomous vehicles. In this article, a simultaneous map-plotting and localization method for an autonomous vehicle is proposed. We use a laser detection and mnging sensor to detect the operating environment. An environment map is plot out using the sensor output data. Then, with an odometer, the vehicle position is located on this map. Finally, the two sensor outputs are merged using a Kalman filter to correct the map as well as the vehicle position.
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Dates et versions

hal-01773463 , version 1 (04-08-2018)

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H. Chou, M. Traonmilin, Edern Ollivier, M. Parent. Simultaneous map-plotting and localization method for unknown driving environment. IEEE International Conference on Networking, Sensing and Control, 2004, Mar 2004, Taipei, Taiwan. ⟨10.1109/ICNSC.2004.1297064⟩. ⟨hal-01773463⟩
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