Synthetic 2D LIDAR for precise vehicle localization in 3D urban environment

Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICRA.2013.6630777

Title:	Synthetic 2D LIDAR for precise vehicle localization in 3D urban environment
Authors:	Chong, Z.J. Qin, B. Bandyopadhyay, T. Ang, M.H. Frazzoli, E. Rus, D.
Issue Date:	2013
Citation:	Chong, Z.J.,Qin, B.,Bandyopadhyay, T.,Ang, M.H.,Frazzoli, E.,Rus, D. (2013). Synthetic 2D LIDAR for precise vehicle localization in 3D urban environment. Proceedings - IEEE International Conference on Robotics and Automation : 1554-1559. ScholarBank@NUS Repository. https://doi.org/10.1109/ICRA.2013.6630777
Abstract:	This paper presents a precise localization algorithm for vehicles in 3D urban environment with only one 2D LIDAR and odometry information. A novel idea of synthetic 2D LIDAR is proposed to solve the localization problem on a virtual 2D plane. A Monte Carlo Localization scheme is adopted for vehicle position estimation, based on synthetic LIDAR measurements and odometry information. The accuracy and robustness of the proposed algorithm are demonstrated by performing real time localization in a 1.5 km driving test around the NUS campus area. © 2013 IEEE.
Source Title:	Proceedings - IEEE International Conference on Robotics and Automation
URI:	http://scholarbank.nus.edu.sg/handle/10635/73911
ISBN:	9781467356411
ISSN:	10504729
DOI:	10.1109/ICRA.2013.6630777
Appears in Collections:	Staff Publications

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