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ICARCV
2006
IEEE

Global Localization Robust to GPS Outages using a Vertical Ladar

10 years 7 months ago
Global Localization Robust to GPS Outages using a Vertical Ladar
– This paper presents a localization strategy for vehicles in urban environments by mapping and updating natural landmarks provided by a 2D ladar (laser range scanner) when GPS data is unavailable or has a too poor quality because of multi-tracks or bad satellite visibility. The method relies on an approach that takes profit of successive passages in the same area. From the modelling point of view, a particularity of the method is due to the use of linear landmarks – sidewalk edges which implies the management of topological connections. Real experiments carried out in real conditions prove the feasibility of this approach.
Maged Jabbour, Philippe Bonnifait
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICARCV
Authors Maged Jabbour, Philippe Bonnifait
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