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Accurately localizing the vehicle against a pre-built high precision map is an essential step for the Autonomous Land Vehicle (ALV). This paper proposes an efficient scan-to-map matching approach based on multi-channel lidar. We firstly advocate the usage of both the lidar reflectance map and the height map, as these two maps contain complementary information. Then, borrowing ideas from image optical...
Due to the complexity of environment, it is a challenging task to detect and track moving objects in driving environment. In some simple scenarios, modelling and tracking of object can be realized by using the geometric properties of the object; In the more complex cases, it can be modelled and tracked as an occupancy grid. This paper presents an occupancy grid tracking system based on particles....
Scan registration plays a critical role in odometry, mapping and localization for Autonomous Ground Vehicle. In this paper, we propose to adopt a probabilistic framework to model the locally planar patch distributions of candidate points from two or more consecutive scans instead of the original point-to-point mode. This can be regarded as the plain-to-plain measurement metric which ensures a very...
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