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Andert, Franz und Mosebach, Henning Hajo (2019) LiDAR SLAM Positioning Quality Evaluation in Urban Road Traffic. In: 3rd EAI International Conference on Intelligent Transport Systems, INTSYS 2019. INTSYS 2019 - 3rd EAI International Conference on Intelligent Transport Systems, 2019-12-03 - 2019-12-06, Braga, Portugal. doi: 10.1007/978-3-030-38822-5_19.
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Offizielle URL: http://futuretransport.org/
Kurzfassung
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.
| elib-URL des Eintrags: | https://elib.dlr.de/132531/ | ||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
| Titel: | LiDAR SLAM Positioning Quality Evaluation in Urban Road Traffic | ||||||||||||
| Autoren: |
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| Datum: | 5 Dezember 2019 | ||||||||||||
| Erschienen in: | 3rd EAI International Conference on Intelligent Transport Systems, INTSYS 2019 | ||||||||||||
| Referierte Publikation: | Ja | ||||||||||||
| Open Access: | Nein | ||||||||||||
| Gold Open Access: | Nein | ||||||||||||
| In SCOPUS: | Ja | ||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||
| DOI: | 10.1007/978-3-030-38822-5_19 | ||||||||||||
| Status: | veröffentlicht | ||||||||||||
| Stichwörter: | GPS-Free Navigation; Simultaneous Localization And Mapping; LiDAR Data Processing | ||||||||||||
| Veranstaltungstitel: | INTSYS 2019 - 3rd EAI International Conference on Intelligent Transport Systems | ||||||||||||
| Veranstaltungsort: | Braga, Portugal | ||||||||||||
| Veranstaltungsart: | internationale Konferenz | ||||||||||||
| Veranstaltungsbeginn: | 3 Dezember 2019 | ||||||||||||
| Veranstaltungsende: | 6 Dezember 2019 | ||||||||||||
| Veranstalter : | EAI - European Alliance for Innovation | ||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
| HGF - Programm: | Verkehr | ||||||||||||
| HGF - Programmthema: | Straßenverkehr | ||||||||||||
| DLR - Schwerpunkt: | Verkehr | ||||||||||||
| DLR - Forschungsgebiet: | V ST Straßenverkehr | ||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | V - NGC KoFiF (alt) | ||||||||||||
| Standort: | Berlin-Adlershof | ||||||||||||
| Institute & Einrichtungen: | Institut für Verkehrssystemtechnik > Datenerfassung und Informationsgewinnung | ||||||||||||
| Hinterlegt von: | Andert, Dr.-Ing. Franz | ||||||||||||
| Hinterlegt am: | 10 Dez 2019 08:53 | ||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:35 |
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