Vehicle 3D localization in mountainous woodland environments

Yoichi Morales, Takashi Tsubouchi, Shin'ichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

This paper presents an approach for vehicle 3D localization in outdoor woodland environments using a loosely coupled multisensor system. The vehicle 3D dead reckoning is computed using a wheel encoder and an IMU. Dead reckoning is corrected from three different sources: a)Using a tilted lidar for road detection and computation of the vehicle position within the road which is then corrected towards a 2D road centerline map given in advance. b) DGPS 2D or 3D data as available. c) Under tree foliage DGPS blackouts commonly occur, specially when measuring height, therefore the use of a barometer for correcting height is proposed. An extended Kalman filter is used for sensor fusion and pose estimation. Finally, the estimated vehicle height is added to the 2D map obtaining a 3D road centerline map with width (measured by the tilted lidar). Thoroughly experimentation on real mountainous woodland paths show the usefulness and robustness of the proposed approach.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages3588-3594
Number of pages7
DOIs
Publication statusPublished - 2009 Dec 11
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: 2009 Oct 112009 Oct 15

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Morales, Y., Tsubouchi, T., & Yuta, S. (2009). Vehicle 3D localization in mountainous woodland environments. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 3588-3594). [5354818] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354818