Simultaneous map-plotting and localization method for unknown driving environment

Abstract : 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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Communication dans un congrès
IEEE International Conference on Networking, Sensing and Control, 2004, Mar 2004, Taipei, Taiwan. IEEE, 〈10.1109/ICNSC.2004.1297064〉
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Contributeur : Edern Ollivier <>
Soumis le : samedi 4 août 2018 - 14:12:38
Dernière modification le : samedi 6 octobre 2018 - 10:12:25
Document(s) archivé(s) le : lundi 5 novembre 2018 - 12:15:24

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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. IEEE, 〈10.1109/ICNSC.2004.1297064〉. 〈hal-01773463〉

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