Laser-only road-vehicle localization with dual 2D push-broom LIDARS and 3D priors

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In this paper we consider long-term navigation using fixed 2D LIDARs. We consider how localization algorithms based on scan-matching – commonly used in indoor environments – are prone to failure when exposed to a challenging real-world outdoor environment. The driving motivation behind this work is to produce a simple, robust system that can be utilized repeatedly over a long period, rather than being forced to repeatedly map the working environment.




[bibtex key=”BaldwinIROS2012″]

2016-10-22T19:49:35+00:00