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Fighting Unreliable GNSS with LiDAR: Autonomous Driving. In The Project KoMo:Dnext

Schäfer, Jörg Peter and Schmälzle, Philipp and Böker, Clarissa and Andert, Franz and Lapoehn, Stephan (2022) Fighting Unreliable GNSS with LiDAR: Autonomous Driving. In The Project KoMo:Dnext. Positioning And Navigation for Intelligent Transport Systems, 3.-4. Nov. 2022, Berlin.

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Self-driving cars demand high precision regarding perception, especially in the dense traffic of urban canyons. Moreover, navigating and controlling the car on a map-based approach requires precise global ego-localization, e. g. in a geographic coordinate system. While GNSS approaches lack precision and robustness in urban areas, visual odometry and simultaneous localization and mapping (SLAM) approaches only deliver information regarding the relative movements of the car but no geo-referenced information. Within the project KoMo:DNext, the Institute of Transportation Systems at the German Aerospace Center (DLR) studies the fusion of GNSS and SLAM-based methods to leverage their advantages, i. e., to gain a robust and precise global ego-localization solution even in urban areas within dense and dynamic traffic. This work discusses a fusion of GNSS and LiDAR localization solutions developed with Outsight SA, which enables our car to safely navigate through Düsseldorf, even through tight construction sites, which would not have been possible with a pure GNSS-based localization.

Item URL in elib:https://elib.dlr.de/192632/
Document Type:Conference or Workshop Item (Speech)
Additional Information:This work has been funded by the German Federal Ministry for Digital and Transport (BMDV) in the project KoMo:Dnext (Grant Agreement no. 01MM19004C).
Title:Fighting Unreliable GNSS with LiDAR: Autonomous Driving. In The Project KoMo:Dnext
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Böker, ClarissaUNSPECIFIEDhttps://orcid.org/0000-0001-6737-4806UNSPECIFIED
Andert, FranzUNSPECIFIEDhttps://orcid.org/0000-0002-1638-7735UNSPECIFIED
Date:November 2022
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Autonomous Vehicle, Localization, SLAM, GNSS
Event Title:Positioning And Navigation for Intelligent Transport Systems
Event Location:Berlin
Event Type:international Conference
Event Dates:3.-4. Nov. 2022
Organizer:DGON e.V.
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Transport System
DLR - Research area:Transport
DLR - Program:V VS - Verkehrssystem
DLR - Research theme (Project):V - Energie und Verkehr (old)
Location: Berlin-Adlershof , Braunschweig
Institutes and Institutions:Institute of Transportation Systems > Cooperative Systems, BS
Institute of Transportation Systems > Cooperative Systems, BA
Deposited By: Schäfer, Jörg Peter
Deposited On:22 Dec 2022 12:10
Last Modified:29 Mar 2023 00:53

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