Road vehicle localization with 2D push-broom LIDAR and 3D priors

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2012, Pages 2611-2617

  Baldwin, Ian ^a   Newman, Paul ^a  

^a UNIVERSITY OF OXFORD   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

PROFILOMETRY; VEHICLES;

2D LASER SCANNERS; LASER DATA; LOW-COST SYSTEMS; ROAD VEHICLES; SCAN MATCHING; SURVEY DATA; TIME VARYING; VEHICLE VELOCITY;

SURVEYS;

EID: 84864443565     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2012.6224996     Document Type: Conference Paper

References (13)

1. J. Levinson, M. Montemerlo, and S. Thrun, "Map-based precision vehicle localization in urban environments," in Proceedings of the Robotics: Science and Systems Conference, 2007.
2. J. Levinson and S. Thrun, "Robust vehicle localization in urban environments using probabilistic maps," in Robotics and Automation (ICRA), 2010 IEEE International Conference on. IEEE, 2010, pp. 4372-4378.
3. R. Kummerle, D. Hahnel, D. Dolgov, S. Thrun, and W. Burgard, "Autonomous driving in a multi-level parking structure," in International Conference on Robotics and Automation, 2009. IEEE, 2009, pp. 3395-3400.
4. F. Moosmann and C. Stiller, "Velodyne slam," in Intelligent Vehicles Symposium (IV), 2011 IEEE. IEEE, pp. 393-398.
5. Y. Morales, T. Tsubouchi, and S. Yuta, "Vehicle localization in outdoor mountainous forested paths and extension of two-dimensional road centerline maps to three-dimensional maps," Advanced Robotics, vol. 24, no. 4, pp. 489-513, 2010.
6. M. Bosse and R. Zlot, "Map matching and data association for large-scale two-dimensional laser scan-based slam," The International Journal of Robotics Research, vol. 27, no. 6, p. 667, 2008.
7. P. Besl and N. McKay, "A method for registration of 3-d shapes," IEEE Transactions on pattern analysis and machine intelligence, pp. 239-256, 1992.
8. M. Bosse and R. Zlot, "Continuous 3d scan-matching with a spinning 2d laser," in Robotics and Automation, 2009. ICRA'09. IEEE International Conference on. IEEE, 2009, pp. 4312-4319.
9. W. Carter, R. Shrestha, G. Tuell, D. Bloomquist, and M. Sartori, "Airborne laser swath mapping shines new light on earth's topography," EOS, Transactions American Geophysical Union, vol. 82, no. 46, pp. 549-555, 2001.
10. P. Furgale and T. Barfoot, "Visual teach and repeat for long-range rover autonomy," Journal of Field Robotics, vol. 27, no. 5, pp. 534-560, 2010.
11. S. LaValle, Planning algorithms. Cambridge Univ Pr, 2006, ch. 5: Sampling-based Motion Planning, p. 189.
12. A. Harrison and P. Newman, "Ticsync: Knowing when things happened," in Proc. IEEE International Conference on Robotics and Automation (ICRA2011), Shanghai, China, May 2011, 05.
13. H. Strik and L. Boves, "Averaging physiological signals with the use of a DTW algorithm," Proceedings SPEECH, vol. 88, no. 7, pp. 883-890, 1988.