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Authors: Farzeen Munir ; Shoaib Azam ; Ahmad Muqeem Sheri ; YeongMin Ko and Moongu Jeon

Affiliation: School of Electrical Engineering and Computer Science, Gwangju Institute of Science and Technology and Republic of Korea

Keyword(s): Localization, 3D Point Cloud, Maps, NDT Matching, Autonomous Vehicles.

Abstract: The nuts and bolts of autonomous driving find its root in devising the localization strategy. Lidar as one of the newest technologies developed in the recent years, provides rich information about the environment in the form of point cloud data which can be used for localization. In this paper, we discuss a localization approach which generates a 3D map from Lidar’s point cloud data using Normal Distribution Transform (NDT) mapping. We use our own dataset collected using our self driving car KIA Soul EV equipped with Lidar and cameras. Once the 3D map has been generated, we have used NDT matching for localizing the self driving car.

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Paper citation in several formats:
Munir, F.; Azam, S.; Sheri, A.; Ko, Y. and Jeon, M. (2019). Where Am I: Localization and 3D Maps for Autonomous Vehicles. In Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS; ISBN 978-989-758-374-2; ISSN 2184-495X, SciTePress, pages 452-457. DOI: 10.5220/0007718404520457

@conference{vehits19,
author={Farzeen Munir. and Shoaib Azam. and Ahmad Muqeem Sheri. and YeongMin Ko. and Moongu Jeon.},
title={Where Am I: Localization and 3D Maps for Autonomous Vehicles},
booktitle={Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS},
year={2019},
pages={452-457},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007718404520457},
isbn={978-989-758-374-2},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - Where Am I: Localization and 3D Maps for Autonomous Vehicles
SN - 978-989-758-374-2
IS - 2184-495X
AU - Munir, F.
AU - Azam, S.
AU - Sheri, A.
AU - Ko, Y.
AU - Jeon, M.
PY - 2019
SP - 452
EP - 457
DO - 10.5220/0007718404520457
PB - SciTePress

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