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| Natural Polemap Dased Localization for Intelligent Vehicles |
| WU Shun-xi, YANG Ming |
(School of Electronic Information and Electrical Engineering,
Shanghai Jiaotong University, Shanghai 200240, China) |
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Abstract In order to overcome the big workload and low accuracy of measuring the polemap manually in outdoor environment, a laser radar based mapping method was presented. On the basis of this, a polemap based localization was introduced which does mapmatching using iterative closest points and can enhance the accuracy of localization. This method was tested on both synthetic and real range data collected in natural environment. The experimental results demonstrate its high accuracy, low computation and wide applicability.
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Received: 25 October 2007
Published: 28 October 2008
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Corresponding Authors:
YANG Ming
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