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Vertical Corner Feature Based Precise Vehicle Localization Using 3D LIDAR in Urban Area.

Jun-Hyuck Im1, Sung-Hyuck Im2, Gyu-In Jee3

  • 1Department of Electronic Engineering, Konkuk University, 120 Neungdong-ro, Gwangjin-gu, Seoul 05029, Korea. junhyuck@konkuk.ac.kr.

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This study introduces a precise vehicle localization method using vertical corner features detected by Light Detection and Ranging (LIDAR) sensors. The system achieves accurate positioning by matching extracted corners with a pre-built map, demonstrating robust performance in urban environments.

Keywords:
3D LIDARcorner mapprecise vehicle localizationurban areavertical corner feature

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Area of Science:

  • Robotics
  • Computer Vision
  • Geospatial Analysis

Background:

  • Urban environments present unique challenges for vehicle localization due to complex structures.
  • Vertical corners of buildings are ubiquitous and can serve as reliable landmarks.
  • Existing localization methods may struggle with accuracy in dense urban settings.

Purpose of the Study:

  • To propose and implement a precise vehicle localization method leveraging vertical corner features extracted from 3D LIDAR data.
  • To enhance autonomous vehicle navigation in urban areas through accurate and robust positioning.

Main Methods:

  • Utilizing a 3D Light Detection and Ranging (LIDAR) sensor (Velodyne HDL-32E) for data acquisition.
  • Employing the Iterative Closest Point (ICP) algorithm to predict vehicle motion based on scan data.
  • Developing a novel vertical corner extraction method for landmark identification.
  • Implementing a localization correction step by matching extracted corners with a pre-built corner map.

Main Results:

  • Experimental validation conducted in the Gangnam area of Seoul, South Korea.
  • Achieved a maximum horizontal position error of approximately 0.46 meters.
  • Obtained a 2D Root Mean Square (RMS) horizontal error of approximately 0.138 meters, indicating high precision.

Conclusions:

  • The proposed vertical corner feature-based localization method provides precise positioning for vehicles in urban environments.
  • The integration of 3D LIDAR and a robust corner extraction technique offers a viable solution for autonomous navigation challenges.
  • The experimental results confirm the effectiveness and accuracy of the developed localization system.