Localization Fusing GPS and a Vertical Laser

This video presents a localization strategy for vehicles in urban environments by mapping and updating natural landmarks provided by a 2D ladar (laser range scanner) when GPS data is unavailable or has a too poor quality because of multi-tracks or bad satellite visibility. The method relies on an approach that takes profit of successive passages in the same area.
From the modeling point of view, a particularity of the method is due to the use of sidewalk edges (linear landmarks) which implies the management of topological connections. Real experiments carried out in real conditions prove the feasibility of this approach.

Category:

Science & Technology

Tags:

• Localization
• Sensor
• Fusion
• Laser
• Range
• finder
• GPS