| Paper Abstract and Keywords |
| Presentation |
2006-07-27 14:00
Ego-Localization in Outdoor Environments using a Laser Radar and GPS
Yoshiko Kojima, Arata Takahashi, Yoshiki Ninomiya (Toyota Central R&D Labs.) |
| Abstract |
(in Japanese) |
(See Japanese page) |
| (in English) |
Various driver assistance systems have been developed in recent years, and some functionality that enables the estimation of precise ego-localization is required. However, the positional accuracy of conventional GPS is about a few meters, which is not adequate for utilization in a next-generation driver assistance system. Therefore, this paper proposes a new estimation method of precise ego-localization by using conventional GPS and an onboard sensor such as a laser radar. This method applies SLAM（Simultaneous Localization and Mapping）to an actual driving road environment, does not require the use of highly-precise GPS or high-accuracy feature maps. Furthermore, the effectiveness of this method is confirmed based on synthesized data and actual data obtained in an outdoor environment using a laser radar. |
| Keyword |
(in Japanese) |
(See Japanese page) |
| (in English) |
GPS / Laser radar / Landmark / Ego-Localization / SLAM / / / |
| Reference Info. |
IEICE Tech. Rep., vol. 106, no. 181, ITS2006-12, pp. 13-18, July 2006. |
| Paper # |
ITS2006-12 |
| Date of Issue |
2006-07-20 (ITS) |
| ISSN |
Print edition: ISSN 0913-5685 |
| Download PDF |
|
| Conference Information |
| Committee |
ITS |
| Conference Date |
2006-07-27 - 2006-07-27 |
| Place (in Japanese) |
(See Japanese page) |
| Place (in English) |
Kikai-Shinko-Kaikan Bldg.(unfixed) |
| Topics (in Japanese) |
(See Japanese page) |
| Topics (in English) |
Positioning Systems for ITS, etc |
| Paper Information |
| Registration To |
ITS |
| Conference Code |
2006-07-ITS |
| Language |
Japanese |
| Title (in Japanese) |
(See Japanese page) |
| Sub Title (in Japanese) |
(See Japanese page) |
| Title (in English) |
Ego-Localization in Outdoor Environments using a Laser Radar and GPS |
| Sub Title (in English) |
|
| Keyword(1) |
GPS |
| Keyword(2) |
Laser radar |
| Keyword(3) |
Landmark |
| Keyword(4) |
Ego-Localization |
| Keyword(5) |
SLAM |
| Keyword(6) |
|
| Keyword(7) |
|
| Keyword(8) |
|
| 1st Author's Name |
Yoshiko Kojima |
| 1st Author's Affiliation |
Toyota Central R&D Labs., Inc. (Toyota Central R&D Labs.) |
| 2nd Author's Name |
Arata Takahashi |
| 2nd Author's Affiliation |
Toyota Central R&D Labs., Inc. (Toyota Central R&D Labs.) |
| 3rd Author's Name |
Yoshiki Ninomiya |
| 3rd Author's Affiliation |
Toyota Central R&D Labs., Inc. (Toyota Central R&D Labs.) |
| 4th Author's Name |
|
| 4th Author's Affiliation |
() |
| 5th Author's Name |
|
| 5th Author's Affiliation |
() |
| 6th Author's Name |
|
| 6th Author's Affiliation |
() |
| 7th Author's Name |
|
| 7th Author's Affiliation |
() |
| 8th Author's Name |
|
| 8th Author's Affiliation |
() |
| 9th Author's Name |
|
| 9th Author's Affiliation |
() |
| 10th Author's Name |
|
| 10th Author's Affiliation |
() |
| 11th Author's Name |
|
| 11th Author's Affiliation |
() |
| 12th Author's Name |
|
| 12th Author's Affiliation |
() |
| 13th Author's Name |
|
| 13th Author's Affiliation |
() |
| 14th Author's Name |
|
| 14th Author's Affiliation |
() |
| 15th Author's Name |
|
| 15th Author's Affiliation |
() |
| 16th Author's Name |
|
| 16th Author's Affiliation |
() |
| 17th Author's Name |
|
| 17th Author's Affiliation |
() |
| 18th Author's Name |
|
| 18th Author's Affiliation |
() |
| 19th Author's Name |
|
| 19th Author's Affiliation |
() |
| 20th Author's Name |
|
| 20th Author's Affiliation |
() |
| 21st Author's Name |
|
| 21st Author's Affiliation |
() |
| 22nd Author's Name |
|
| 22nd Author's Affiliation |
() |
| 23rd Author's Name |
|
| 23rd Author's Affiliation |
() |
| 24th Author's Name |
|
| 24th Author's Affiliation |
() |
| 25th Author's Name |
|
| 25th Author's Affiliation |
() |
| 26th Author's Name |
/ / |
| 26th Author's Affiliation |
()
() |
| 27th Author's Name |
/ / |
| 27th Author's Affiliation |
()
() |
| 28th Author's Name |
/ / |
| 28th Author's Affiliation |
()
() |
| 29th Author's Name |
/ / |
| 29th Author's Affiliation |
()
() |
| 30th Author's Name |
/ / |
| 30th Author's Affiliation |
()
() |
| 31st Author's Name |
/ / |
| 31st Author's Affiliation |
()
() |
| 32nd Author's Name |
/ / |
| 32nd Author's Affiliation |
()
() |
| 33rd Author's Name |
/ / |
| 33rd Author's Affiliation |
()
() |
| 34th Author's Name |
/ / |
| 34th Author's Affiliation |
()
() |
| 35th Author's Name |
/ / |
| 35th Author's Affiliation |
()
() |
| 36th Author's Name |
/ / |
| 36th Author's Affiliation |
()
() |
| Speaker |
Author-1 |
| Date Time |
2006-07-27 14:00:00 |
| Presentation Time |
30 minutes |
| Registration for |
ITS |
| Paper # |
ITS2006-12 |
| Volume (vol) |
vol.106 |
| Number (no) |
no.181 |
| Page |
pp.13-18 |
| #Pages |
6 |
| Date of Issue |
2006-07-20 (ITS) |