Mapping in urban environment for autonomous vehicle

Abstract

Autonomous vehicle has been touted as the next generation automobile that can change the way how people commute from one place to another. Using our own instrumented vehicles, mapping is done using a single tilted down LIDAR with odometry. By augmenting the raw sensor measurements, we show that it is sufficient to perform navigation in an urban environment by using a map. In conclusion, we show that we are able to perform mapping in different kinds of urban environment we have encountered so far. The extension to this work is to include more data analysis on the map to extract complete prior knowledge presented from the environment. This is with the goal that the map is where the knowledge is shared among all other autonomous vehicles, in order to perform a safe and timely navigation.