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http://dx.doi.org/10.5302/J.ICROS.2016.16.0173

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

Jung, Tae-Ki (Department of electronics, Konkuk University)
Song, Jong-Hwa (Hanwha Systems)
Im, Jun-Hyuck (Department of electronics, Konkuk University)
Lee, Byung-Hyun (Hanwha Systems)
Jee, Gyu-In (Department of electronics, Konkuk University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.12, 2016 , pp. 1061-1067 More about this Journal
Abstract
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%.
Keywords
visual localization; map-based localization; vision based navigation;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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