我在哪里:自动驾驶汽车的定位和3D地图

International Conference on Vehicle Technology and Intelligent Transport Systems Pub Date : 2019-10-11 DOI:10.5220/0007718404520457

Farzeen Munir, Shoaib Azam, A. Sheri, Yeongmin Ko, M. Jeon

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引用次数: 10

摘要

自动驾驶的关键在于制定本地化策略。激光雷达作为近年来发展起来的最新技术之一，以点云数据的形式提供了丰富的环境信息，可用于定位。本文讨论了一种利用正态分布变换(NDT)映射从激光雷达点云数据生成三维地图的定位方法。我们使用了配备激光雷达和摄像头的自动驾驶汽车起亚Soul EV收集的数据。3D地图生成后，我们使用NDT匹配对自动驾驶汽车进行定位。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Where Am I: Localization and 3D Maps for Autonomous Vehicles

The nuts and bolts of autonomous driving find its root in devising the localization strategy. Lidar as one of the newest technologies developed in the recent years, provides rich information about the environment in the form of point cloud data which can be used for localization. In this paper, we discuss a localization approach which generates a 3D map from Lidar’s point cloud data using Normal Distribution Transform (NDT) mapping. We use our own dataset collected using our self driving car KIA Soul EV equipped with Lidar and cameras. Once the 3D map has been generated, we have used NDT matching for localizing the self driving car.

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International Conference on Vehicle Technology and Intelligent Transport Systems

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