Environmental Magnetic Map Generation for Autonomous Vehicle Localization
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- ISHII Kyoya
- 東京大学大学院 工学系研究科
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- SHIMONO Keisuke
- 東京大学生産技術研究所 機械・生体系部門
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- SUDA Yoshihiro
- 東京大学生産技術研究所 機械・生体系部門
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- ANDO Takayuki
- 愛知製鋼株式会社
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- MUKUMOTO Hirotaka
- 愛知製鋼株式会社
Bibliographic Information
- Other Title
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- 自動運転車両の自己位置推定のための環境磁場地図作成
Abstract
<p>This research proposes a new method of vehicle localization using an environmental magnetic field (EMF). EMF consists of the Earth’s geomagnetic field and magnetic field induced by manmade objects. EMF has local fluctuations that can be paired with its coordinate position and is time-invariant within the practical scale, so it has the potential to be used as a localization method. In this paper, an EMF map was generated by Gaussian process regression using magnetic field data collected from our experiment vehicle. Then a simulation was done to verify the localization using the Monte Carlo localization algorithm. The proposed method was able to generate an EMF map resembling the original magnetic field measurements, and the algorithm successfully localized the vehicle. The results also showed that the magnetic markers may increase the localization accuracy.</p>
Journal
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- SEISAN KENKYU
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SEISAN KENKYU 76 (1), 63-68, 2024-02-01
Institute of Industrial Science The University of Tokyo
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Details 詳細情報について
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- CRID
- 1390299229355553152
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- ISSN
- 18812058
- 0037105X
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- Text Lang
- ja
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- Data Source
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- JaLC
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- Abstract License Flag
- Disallowed