Richter, David and Abmayr, Thomas and Runge, Hartmut (2016) SAR data based Landmark Navigation for highly precise Vehicle Localization. MoLaS 2016, 23. - 24.11.2016, Freiburg, Deutschland.
![]() |
PDF
1MB |
Abstract
This approach deals with a probabilistic state estimation method with the aid of landmarks in the context of autonomous driving and driver assistance systems. It is mandatory to get a precise ego-position in order to operate vehicles throughout complex urban environments where global positioning methods like GPS provide only low position accuracies and low reliability. On-board sensors like LiDAR are able to detect a wide range of objects in the surrounding of a vehicle. Static urban objects like streetlamps or traffic light posts with absolute coordinates could be a solution to improve stability on the localization of a vehicle. Modern remote sensing approaches like geodetic radar are able to extract certain features like pole-shaped objects in an extensive and fast way. This work demonstrates the possibility of locating oneself within a landmark map based on a low-cost LiDAR sensor. Monte-Carlo localization enhances GPS positioning accuracy and was successfully applied on a test site.
Item URL in elib: | https://elib.dlr.de/108356/ | ||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Document Type: | Conference or Workshop Item (Poster) | ||||||||||||
Title: | SAR data based Landmark Navigation for highly precise Vehicle Localization | ||||||||||||
Authors: |
| ||||||||||||
Date: | 23 November 2016 | ||||||||||||
Refereed publication: | No | ||||||||||||
Open Access: | Yes | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | No | ||||||||||||
Status: | Published | ||||||||||||
Keywords: | Landmark, particle filter, Partikelfilter, SAR Geodesy, vehicle localization | ||||||||||||
Event Title: | MoLaS 2016 | ||||||||||||
Event Location: | Freiburg, Deutschland | ||||||||||||
Event Type: | Workshop | ||||||||||||
Event Dates: | 23. - 24.11.2016 | ||||||||||||
Organizer: | Fraunhofer IPM | ||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||
HGF - Program: | Space | ||||||||||||
HGF - Program Themes: | Earth Observation | ||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||
DLR - Program: | R EO - Earth Observation | ||||||||||||
DLR - Research theme (Project): | R - Vorhaben hochauflösende Fernerkundungsverfahren (old) | ||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||
Institutes and Institutions: | Remote Sensing Technology Institute > SAR Signal Processing | ||||||||||||
Deposited By: | Richter, David | ||||||||||||
Deposited On: | 25 Nov 2016 11:29 | ||||||||||||
Last Modified: | 31 Jul 2019 20:05 |
Repository Staff Only: item control page