TY  - JOUR
PY  - 2018//
TI  - High-accurate localization INS and using multilayer LiDAR for autonomous cars
JO  - Transactions of Society of Automotive Engineers of Japan
A1  - Akai, Naoki
A1  - Takeuchi, Eijiro
A1  - Yamaguchi, Takuma
A1  - Morales, Luis Yoichi
A1  - Yoshihara, Yuki
A1  - Okuda, Hiroyuki
A1  - Suzuki, Tatsuya
A1  - Ninomiya, Yoshiki
SP  - 675
EP  - 681
VL  - 49
IS  - 3
N2  - This paper presents a high-accuracy localization method for autonomous cars. In the method, we use inertial navigation system (INS) and a multilayer light detection and ranging. Three-dimensional normal distributions transform scan matching is employed and its estimation result is fused with the result from INS on the basis of a Kalman filtering algorithm. To determine uncertainty of the scan matching result, we utilize Hessian of the cost function. The localization method robustly estimates smooth and accurate vehicle trajectory. We conducted autonomous driving demonstrations with the method in public roads and these results are used to show the performance.<p /> <p>Language: ja</p>
LA  - ja
SN  - 0287-8321
UR  - http://dx.doi.org/10.11351/jsaeronbun.49.675
ID  - ref1
ER  -