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LiDAR SLAM Positioning Quality Evaluation in Urban Road Traffic

Andert, Franz and Mosebach, Henning Hajo (2019) LiDAR SLAM Positioning Quality Evaluation in Urban Road Traffic. In: INTSYS 2019 - 3rd EAI International Conference on Intelligent Transport Systems. INTSYS 2019 - 3rd EAI International Conference on Intelligent Transport Systems, 03.-06. Dez. 2019, Braga, Portugal.

Full text not available from this repository.

Official URL: http://futuretransport.org/

Abstract

This paper addresses the positioning quality of LiDAR-based Simultaneous Localization And Mapping (SLAM) within urban road traffic. Based on the assumption of functional capability of existing SLAM implementations, the paper evaluates specific details of urban car drives that arise when SLAM is to be used for automatic car control. In the presented case, LiDAR-based positioning is done with the Google Cartographer software which generates real-time updates that are compared to GNSS reference. The evaluation is done by using own Light Detection And Ranging (LiDAR) sensor recordings from urban driving. Next to the overall GNSS-free path estimation, the paper zooms into some typical situations (e.g. waiting at busy intersection, driving curves) where SLAM might be inaccurate.

Item URL in elib:https://elib.dlr.de/132531/
Document Type:Conference or Workshop Item (Speech)
Title:LiDAR SLAM Positioning Quality Evaluation in Urban Road Traffic
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Andert, FranzFranz.Andert (at) dlr.dehttps://orcid.org/0000-0002-1638-7735
Mosebach, Henning HajoHenning.Mosebach (at) dlr.deUNSPECIFIED
Date:5 December 2019
Journal or Publication Title:INTSYS 2019 - 3rd EAI International Conference on Intelligent Transport Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:GPS-Free Navigation; Simultaneous Localization And Mapping; LiDAR Data Processing
Event Title:INTSYS 2019 - 3rd EAI International Conference on Intelligent Transport Systems
Event Location:Braga, Portugal
Event Type:international Conference
Event Dates:03.-06. Dez. 2019
Organizer:EAI - European Alliance for Innovation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Road Transport
DLR - Research area:Transport
DLR - Program:V ST Straßenverkehr
DLR - Research theme (Project):V - NGC KoFiF
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Transportation Systems > Data Management and Knowledge Discovery
Deposited By: Andert, Dr.-Ing. Franz
Deposited On:10 Dec 2019 08:53
Last Modified:10 Dec 2019 08:53

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