Autonomous driving based on accurate localization using multilayer LiDAR and dead reckoning

In this study, we developed an autonomous driving system for mountainous public roads. Three-dimensional normal distribution transform (NDT) scan matching is employed for localization and a model predictive controller is utilized for vehicle motion control. In order to increase the robustness of the...

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Bibliographic Details
Main Authors: Akai, Naoki, Morales, Luis Yoichi, Yamaguchi, Takuma, Takeuchi, Eijiro, Yoshihara, Yuki, Okuda, Hiroyuki, Suzuki, Tatsuya, Ninomiya, Yoshiki
Format: Conference Proceeding
Language:English
Subjects:
Autonomous Driving
Autonomous vehicles
Covariance matrices
Dead reckoning
Roads
Three-dimensional displays
Trajectory
Uncertainty
Vehicle Localization
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