An optimization technique for positioning multiple maps for self-driving car's autonomous navigation
S Dominguez, B Khomutenko, G Garcia… - 2015 IEEE 18th …, 2015 - ieeexplore.ieee.org
Self-driving car's navigation requires a very precise localization covering wide areas and
long distances. Moreover, they have to do it at faster speeds than conventional mobile
robots. This paper reports on an efficient technique to optimize the position of a sequence of
maps along a journey. We take advantage of the short-term precision and reduced space on
disk of the localization using 2D occupancy grid maps, from now on called sub-maps, as
well as, the long-term global consistency of a Kalman filter that fuses odometry and GPS …
long distances. Moreover, they have to do it at faster speeds than conventional mobile
robots. This paper reports on an efficient technique to optimize the position of a sequence of
maps along a journey. We take advantage of the short-term precision and reduced space on
disk of the localization using 2D occupancy grid maps, from now on called sub-maps, as
well as, the long-term global consistency of a Kalman filter that fuses odometry and GPS …
An optimization technique for positioning multiple maps for self-driving car's autonomous navigation
S Domínguez-Quijada, B Khomutenko… - Intelligent …, 2015 - hal.science
Self-driving car's navigation requires a very precise localization covering wide areas and
long distances. Moreover, they have to do it at faster speeds than conventional mobile
robots. This paper reports on an efficient technique to optimize the position of a sequence of
maps along a journey. We take advantage of the short-term precision and reduced space on
disk of the localization using 2D occupancy grid maps, from now on called sub-maps, as
well as, the long-term global consistency of a Kalman filter that fuses odometry and GPS …
long distances. Moreover, they have to do it at faster speeds than conventional mobile
robots. This paper reports on an efficient technique to optimize the position of a sequence of
maps along a journey. We take advantage of the short-term precision and reduced space on
disk of the localization using 2D occupancy grid maps, from now on called sub-maps, as
well as, the long-term global consistency of a Kalman filter that fuses odometry and GPS …
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