6 research outputs found
LIDAR-Based High Reflective Landmarks (HRL)s For Vehicle Localization in an HD Map
International audienceAccurate localization is very important to ensure performance and safety of autonomous vehicles. In particular, with the appearance of High Definition (HD) sparse geometric road maps, many research works have been focusing on the deployment of accurate localization systems in a previously built map. In this paper, we solve a localization problem by matching road perceptions from a 3D LIDAR sensor with HD map elements. The perception system detects High Reflective Landmarks (HRL) such as: lane markings, road signs and guard rail reflectors (GRR) from a 3D point cloud. A particle filtering algorithm estimates the position of the vehicle by matching observed HRLs with HD map attributes. The proposed approach extends our work in [1] and [2] where a localization system based on lane markings and road signs has been developed. Experiments have been conducted on a highway-like test track using GNSS/INS with RTK corrections as a ground truth (GT). Error evaluations are given as cross-track (CT) and along-track (AT) errors defined in the curvilinear coordinates [3] related to the map. The obtained accuracies of our localization system is 18 cm for the cross-track error and 32 cm for the along-track error
When Geometry is not Enough: Using Reflector Markers in Lidar SLAM
Lidar-based SLAM systems perform well in a wide range of circumstances by
relying on the geometry of the environment. However, even mature and reliable
approaches struggle when the environment contains structureless areas such as
long hallways. To allow the use of lidar-based SLAM in such environments, we
propose to add reflector markers in specific locations that would otherwise be
difficult. We present an algorithm to reliably detect these markers and two
approaches to fuse the detected markers with geometry-based scan matching. The
performance of the proposed methods is demonstrated on real-world datasets from
several industrial environments.Comment: Accepted at IROS 202
OCR-RTPS: An OCR-based real-time positioning system for the valet parking
Obtaining the position of ego-vehicle is a crucial prerequisite for automatic
control and path planning in the field of autonomous driving. Most existing
positioning systems rely on GPS, RTK, or wireless signals, which are arduous to
provide effective localization under weak signal conditions. This paper
proposes a real-time positioning system based on the detection of the parking
numbers as they are unique positioning marks in the parking lot scene. It does
not only can help with the positioning with open area, but also run
independently under isolation environment. The result tested on both public
datasets and self-collected dataset show that the system outperforms others in
both performances and applies in practice. In addition, the code and dataset
will release later.Comment: 25 pages, 9 figure
LIDAR-Based High Reflective Landmarks (HRL)s For Vehicle Localization in an HD Map
International audienceAccurate localization is very important to ensure performance and safety of autonomous vehicles. In particular, with the appearance of High Definition (HD) sparse geometric road maps, many research works have been focusing on the deployment of accurate localization systems in a previously built map. In this paper, we solve a localization problem by matching road perceptions from a 3D LIDAR sensor with HD map elements. The perception system detects High Reflective Landmarks (HRL) such as: lane markings, road signs and guard rail reflectors (GRR) from a 3D point cloud. A particle filtering algorithm estimates the position of the vehicle by matching observed HRLs with HD map attributes. The proposed approach extends our work in [1] and [2] where a localization system based on lane markings and road signs has been developed. Experiments have been conducted on a highway-like test track using GNSS/INS with RTK corrections as a ground truth (GT). Error evaluations are given as cross-track (CT) and along-track (AT) errors defined in the curvilinear coordinates [3] related to the map. The obtained accuracies of our localization system is 18 cm for the cross-track error and 32 cm for the along-track error
Abstracts on Radio Direction Finding (1899 - 1995)
The files on this record represent the various databases that originally composed the CD-ROM issue of "Abstracts on Radio Direction Finding" database, which is now part of the Dudley Knox Library's Abstracts and Selected Full Text Documents on Radio Direction Finding (1899 - 1995) Collection. (See Calhoun record https://calhoun.nps.edu/handle/10945/57364 for further information on this collection and the bibliography).
Due to issues of technological obsolescence preventing current and future audiences from accessing the bibliography, DKL exported and converted into the three files on this record the various databases contained in the CD-ROM.
The contents of these files are:
1) RDFA_CompleteBibliography_xls.zip [RDFA_CompleteBibliography.xls: Metadata for the complete bibliography, in Excel 97-2003 Workbook format; RDFA_Glossary.xls: Glossary of terms, in Excel 97-2003 Workbookformat; RDFA_Biographies.xls: Biographies of leading figures, in Excel 97-2003 Workbook format];
2) RDFA_CompleteBibliography_csv.zip [RDFA_CompleteBibliography.TXT: Metadata for the complete bibliography, in CSV format; RDFA_Glossary.TXT: Glossary of terms, in CSV format; RDFA_Biographies.TXT: Biographies of leading figures, in CSV format];
3) RDFA_CompleteBibliography.pdf: A human readable display of the bibliographic data, as a means of double-checking any possible deviations due to conversion