제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제22권12호
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  • Pages.1061-1067
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  • 2016
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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3D-Lidar 기반 도로 반사도 지도와 IPM 영상을 이용한 위치추정

Localization Using 3D-Lidar Based Road Reflectivity Map and IPM Image

  • 투고 : 2016.09.02
  • 심사 : 2016.10.14
  • 발행 : 2016.12.01
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초록

Position of the vehicle for driving is essential to autonomous navigation. However, there appears GPS position error due to multipath which is occurred by tall buildings in downtown area. In this paper, GPS position error is corrected by using camera sensor and highly accurate map made with 3D-Lidar. Input image through inverse perspective mapping is converted into top-view image, and it works out map matching with the map which has intensity of 3D-Lidar. Performance comparison was conducted between this method and traditional way which does map matching with input image after conversion of map to pinhole camera image. As a result, longitudinal error declined 49% and complexity declined 90%.

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참고문헌

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