Robustness Evaluation of Vehicle Localization in 3D Map Using Convergence of Scan Matching
ABSTRACT: Ego-vehicle localization is a critical technology in autonomous driving systems, and one of the widely used methods for localization is scan matching between a 3D map and real-time LiDAR scan. This method is known to fail due to factors such as an incorrect initial position and orientation...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Society of Automotive Engineers of Japan, Inc.
2022-10-01
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| Series: | International Journal of Automotive Engineering |
| Online Access: | https://www.jstage.jst.go.jp/article/jsaeijae/13/4/13_20224635/_article/-char/ja |