Robust LIDAR Intensity based Localization System for Autonomous Driving

Описание: In this video, we show a unique holistic and feature based localization system for autonomous vehicles using LIDAR reflectivity/intensity images. The system is used to precisely localize the vehicle during autonomous driving in lateral and longitudinal directions. Technically, the module conducts many operations such as map retrieving, online LIDAR intensity frame accumulation, map and observation image matching (holistic), road profile edge matching (feature), matching result integration in a probabilistic framework and computing the correction offsets of dead reckoning measurements in order to smoothly and accurately estimate the vehicle position in the real world.
For more information, you can refer to the following links:

(A) Map Creation Module:

[1] M. ALDIBAJA, LIDAR-Data Accumulation Strategy to Generate High Definition Maps for Autonomous Vehicles”, IEEE-MFI, pp.422-428, 2017.
https://ieeexplore.ieee.org/document/...

[2]    • LIDAR Mapping Strategy for Autonomous Vehi...  

(B) Localization Module:

[1] M. Aldibaja “On Autonomous Driving: Combining Holistic and Feature based Localization Systems (Reasons and Advantages)”, Journal of Advanced Control, Automation and Robotics (JACAR), Vol. 3, 6, 47-77, 2017.
https://www.ascspublications.org/prod...

[2] M. Aldibaja” On Autonomous Driving: Why Intensity and Feature Matching Must be Used in Localization?” IEEE International Conference on Intelligent Informatics and BioMedical Sciences, pp.133-134, 12 2017.
https://ieeexplore.ieee.org/document/...

[3] M Aldibaja, “Improving Localization Accuracy for Autonomous Driving in Snow-Rain Environments”, Proceedings of IEEE/SICE International Symposium on System Integration, 2016.
https://ieeexplore.ieee.org/document/...

Kanazawa University in Japan: Autonomous Vehicle Research Unit

Important Notice:
The data in the video (Partially or Collectively) can NOT be used in papers, conferences, websites, meetings or other media facilities and scientific activities WITHOUT official permission from the publisher.