一种基于卡尔曼滤波的同步定位与映射算法

IEEE Intelligent Vehicles Symposium, 2004 Pub Date : 2004-06-14 DOI:10.1109/IVS.2004.1336457

H. Chou, E. Ollivier, M. Traonmilin, M. Parent

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引用次数: 13

摘要

对于自动驾驶汽车的自动导航来说，实时定位是一个关键问题。本文提出了一种自动驾驶汽车的同时定位与映射算法。我们使用激光探测和测距传感器来探测操作环境。使用传感器输出数据绘制环境图。然后，通过里程表，车辆位置就会在地图上显示出来。最后，使用卡尔曼滤波器合并这两个传感器输出以校正地图和车辆位置。

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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A simultaneous localization and mapping algorithm based on Kalman filtering

For automatic navigation of autonomous vehicles, localization in real time is a key issue. In this article, a simultaneous localization and mapping algorithm is proposed for an autonomous vehicle. We use a laser detection and ranging sensor to detect the operating environment. An environment map is plot out using the sensor output data. Then, with an odometer, the vehicle position is located on this map. Finally, these two sensor outputs are merged using a Kalman filter to correct the map as well as the vehicle position.

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IEEE Intelligent Vehicles Symposium, 2004

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