Kernelised Rényi Distance for Localization and Mapping of Autonomous Vehicle

Abstract

Accurate locating is an important task for autonomous vehicles' safely driving. In order to realize the precise locating autonomous vehicles without Global Positioning System(GPS) signal, a Kernelized Rényi Distance(KRD) based simultaneous localization and mapping(SLAM) algorithm is proposed in this paper. In our Algorithm, pose estimation are computed by optimizing KRD between two groups of laser point(in odometry process) or between laser points and the local map(in mapping process). The experimental results indicate that the proposed algorithm can accurately locate autonomous vehicle and build the traveled environment map.