Benchmarking Particle Filter Algorithms for Efficient Velodyne-Based Vehicle Localization

Benchmarking Particle Filter Algorithms for Efficient Velodyne-Based Vehicle Localization

Keeping a vehicle well-localized within a prebuilt-map is at the core of any autonomous vehicle navigation system. In this work, we show that both standard SIR sampling and rejection-based optimal sampling are suitable for efficient (10 to 20 ms) real-time pose tracking without feature detection tha...

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Bibliographic Details
Main Authors: Blanco Claraco, José Luis, Mañas Alvarez, Francisco, Torres Moreno, José Luis, Rodríguez Díaz, Francisco, Giménez Fernández, Antonio
Format: info:eu-repo/semantics/article
Language:English
Published: MDPI 2020
Subjects:
global positioning system
mobile robots
simultaneous localization and mapping
particle filter
district
Online Access:http://hdl.handle.net/10835/7556

Internet

http://hdl.handle.net/10835/7556

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