On line Mapping and Global Positioning for autonomous driving in urban environment based on Evidential SLAM

Abstract : Locate a vehicle in an urban environment remains a challenge for the autonomous driving community. By fusing information from a LIDAR, a Global Navigation by Satellite System (GNSS) and the vehicle odometry, this article proposes a solution based on evidential grids and a particle filter to map the static environment and simultaneously estimate the position in a global reference at a high rate and without any prior knowledge.
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https://hal.inria.fr/hal-01149504
Contributor : Guillaume Trehard <>
Submitted on : Thursday, May 7, 2015 - 11:11:30 AM
Last modification on : Thursday, February 7, 2019 - 5:54:08 PM
Long-term archiving on : Monday, September 14, 2015 - 8:11:29 PM

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Guillaume Trehard, Evangeline Pollard, Benazouz Bradai, Fawzi Nashashibi. On line Mapping and Global Positioning for autonomous driving in urban environment based on Evidential SLAM. Intelligent Vehicles Symposium - IV 2015, Jun 2015, Seoul, South Korea. ⟨hal-01149504⟩

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