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Andert, Franz and 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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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/ | ||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||
| Title: | LiDAR SLAM Positioning Quality Evaluation in Urban Road Traffic | ||||||||||||
| Authors: |
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| Date: | 5 December 2019 | ||||||||||||
| Journal or Publication Title: | 3rd EAI International Conference on Intelligent Transport Systems, INTSYS 2019 | ||||||||||||
| Refereed publication: | Yes | ||||||||||||
| Open Access: | No | ||||||||||||
| Gold Open Access: | No | ||||||||||||
| In SCOPUS: | Yes | ||||||||||||
| In ISI Web of Science: | No | ||||||||||||
| DOI: | 10.1007/978-3-030-38822-5_19 | ||||||||||||
| 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 Start Date: | 3 December 2019 | ||||||||||||
| Event End Date: | 6 December 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 (old) | ||||||||||||
| 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: | 24 Apr 2024 20:35 |
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