Paper Info
Title
Vertical Corner Feature Based Precise Vehicle Localization Using 3D LIDAR in Urban Area.
Abstract
Tall buildings are concentrated in urban areas. The outer walls of buildings are vertically erected to the ground and almost flat. Therefore, the vertical corners that meet the vertical planes are present everywhere in urban areas. These corners act as convenient landmarks, which can be extracted by using the light detection and ranging (LIDAR) sensor. A vertical corner feature based precise vehicle localization method is proposed in this paper and implemented using 3D LIDAR (Velodyne HDL-32E). The vehicle motion is predicted by accumulating the pose increment output from the iterative closest point (ICP) algorithm based on the geometric relations between the scan data of the 3D LIDAR. The vertical corner is extracted using the proposed corner extraction method. The vehicle position is then corrected by matching the prebuilt corner map with the extracted corner. The experiment was carried out in the Gangnam area of Seoul, South Korea. In the experimental results, the maximum horizontal position error is about 0.46 m and the 2D Root Mean Square (RMS) horizontal error is about 0.138 m.
Year
DOI
Venue
2016
10.3390/s16081268
SENSORS
Keywords
Field
DocType
precise vehicle localization,vertical corner feature,urban area,corner map,3D LIDAR
Remote sensing,Horizontal position representation,Lidar,Ranging,Root mean square,Engineering,Feature based,Urban area,Iterative closest point,Automatic vehicle location
Journal
Volume
Issue
Citations 
16
8.0
11
PageRank 
References 
Authors
0.71
6
3
Name
Order
Citations
PageRank
Jun-Hyuck Im1141.44
Sunghyuck Im2333.28
Gyu-In Jee3869.72