Where Am I: Localization and 3D Maps for Autonomous Vehicles

Farzeen Munir, Shoaib Azam, Ahmad Sheri, YeongMin Ko, Moongu Jeon

2019

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.

Paper Citation

in Harvard Style

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 - Volume 1: VEHITS, ISBN 978-989-758-374-2, pages 452-457. DOI: 10.5220/0007718404520457

in Bibtex Style

@conference{vehits19,
author={Farzeen Munir and Shoaib Azam and Ahmad 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 - Volume 1: VEHITS,},
year={2019},
pages={452-457},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007718404520457},
isbn={978-989-758-374-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Where Am I: Localization and 3D Maps for Autonomous Vehicles
SN - 978-989-758-374-2
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