Autonomous Vehicle Navigation by Building 3D Map and by Detecting Human Trajectory using LIDAR
نویسندگان
چکیده
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 developed on ROS. Car park of 70x50[m] area is used for experiment and results are shown.
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