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Related Experiment Video

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Evaluating the Effect of Roadside Parking on a Dual-Direction Urban Street
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Parking Line Based SLAM Approach Using AVM/LiDAR Sensor Fusion for Rapid and Accurate Loop Closing and Parking Space

Gyubeom Im1, Minsung Kim1, Jaeheung Park1,2

  • 1Graduate School of Convergence Science and Technology, Seoul National University, Seoul 08826, Korea.

Sensors (Basel, Switzerland)
|November 8, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces a new SLAM method for autonomous vehicles using AVM/LiDAR sensor fusion. It enables rapid loop closing for precise localization and parking space detection, enhancing safety.

Keywords:
LiDARSLAMaround view monitor (AVM)autonomous valet parkingautonomous vehicleparking space detectionsensor fusion

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Area of Science:

  • Robotics and Autonomous Systems
  • Computer Vision
  • Sensor Fusion

Background:

  • Autonomous vehicle parking demands centimeter-level precision for collision avoidance.
  • Maintaining real-time localization is crucial, especially during loop closing events in parking scenarios.

Purpose of the Study:

  • To propose a Simultaneous Localization and Mapping (SLAM) method for autonomous vehicles.
  • To enhance loop closing speed and accuracy using sensor fusion.
  • To enable reliable parking space detection.

Main Methods:

  • Utilizing Around View Monitor (AVM) and Light Detection and Ranging (LiDAR) sensor fusion.
  • Extracting parking line features from fused sensor data.
  • Employing sparse feature-based pose graph optimization for rapid loop closing.

Main Results:

  • Achieved loop closing within milliseconds, significantly faster than existing LiDAR-based SLAM algorithms.
  • Demonstrated real-time localization performance suitable for autonomous parking.
  • Successfully detected parking spaces using accumulated map features.

Conclusions:

  • The proposed AVM/LiDAR fusion SLAM method offers rapid loop closing and accurate localization.
  • Parking line feature extraction significantly improves loop closing speed and enables parking space detection.
  • The method operates effectively in real-time on a single CPU, validating its practical applicability.