High-Accurate Localization INS and Using Multilayer LiDAR for Autonomous Cars

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  • INS とマルチレイヤー LiDAR を用いた自動運転車両のための高精度自己位置推定
  • INS ト マルチレイヤー LiDAR オ モチイタ ジドウ ウンテン シャリョウ ノ タメ ノ コウセイド ジコ イチ スイテイ

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Abstract

This paper presents a high-accuracy localization method for autonomous cars. In the method, we use inertial navigation system (INS) and a multilayer light detection and ranging. Three-dimensional normal distributions transform scan matching is employed and its estimation result is fused with the result from INS on the basis of a Kalman filtering algorithm. To determine uncertainty of the scan matching result, we utilize Hessian of the cost function. The localization method robustly estimates smooth and accurate vehicle trajectory. We conducted autonomous driving demonstrations with the method in public roads and these results are used to show the performance.

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