On line Mapping and Global Positioning for autonomous driving in urban environment based on Evidential SLAM
Résumé
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.
Origine : Fichiers produits par l'(les) auteur(s)
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