Extended Line Map-Based Precise Vehicle Localization Using 3D LIDAR

Vertical Corner Feature Based Precise Vehicle Localization Using 3D LIDAR in Urban Area

Tall buildings are concentrated in urban areas. The outer walls of buildings are vertically erected to the ground and almost flat. Therefore, the vertical corners that meet the vertical planes are present everywhere in urban areas. These corners act as convenient landmarks, which can be extracted by using the light detection and ranging (LIDAR) sensor. A vertical corner feature based precise ve...

“Where’s the Boss?”: Monte Carlo Localization for an Autonomous Ground Vehicle using an Aerial Lidar Map

Autonomous Vehicle Navigation by Building 3D Map and by Detecting Human Trajectory using LIDAR

This paper describes an autonomous vehicle navigation system based on Velodyne LIDAR. The system mainly focusing on an autonomy at the car park, and it includes following functions, 1) odometory correction, 2) 3D map building, 3) localization, 4) detecting human trajectories as well as static obstacles, 5) path planning, and 6) vehicle control to a given trajectory. All those functions are deve...

Stereo-Based Outdoor Localization using a Line Drawing Building Map

Line drawing maps are frequently used by people to exchange location information. Mobile robots in the future are expected to be able to communicate with people and thus to localize themselves using such maps. We therefore develop a method of outdoor localization using a stereo camera and a line drawing building map. Omnidirectional range data obtained by a stereo camera and a pan-tilt unit are...

Vehicle Detection from 3D Lidar Using Fully Convolutional Network

Convolutional network techniques have recently achieved great success in vision based detection tasks. This paper introduces the recent development of our research on transplanting the fully convolutional network technique to the detection tasks on 3D range scan data. Specifically, the scenario is set as the vehicle detection task from the range data of Velodyne 64E lidar. We proposes to presen...