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Title: Uncertainty estimation of LiDAR matching aided by dynamic vehicle detection and high definition map
Authors: Wen, W
Bai, X 
Zhan, W
Tomizuka, M
Hsu, LT 
Keywords: Road vehicles
Hessian matrices
Traffic engineering computing
Optical radar
Object detection
Image matching
Issue Date: 21-Mar-2019
Publisher: Institution of Engineering and Technology
Source: Electronics letters, 21 Mar. 2019, p. 348-349 How to cite?
Journal: Electronics letters 
Abstract: LiDAR matching between real-time point clouds and pre-built points map is a popular approach to provide accurate localisation service for autonomous vehicles. However, the performance is severely deteriorated in dense traffic scenes. Unavoidably, dynamic vehicles introduce additional uncertainty to the matching result. The main cause is that the pre-built map can be blocked by the surrounding dynamic vehicles from the view of LiDAR of ego vehicle. A novel uncertainty of LiDAR matching (ULM) estimation method aided by the dynamic vehicle (DV) detection and high definition map is proposed in this Letter. Compared to the conventional Hessian matrix-based ULM estimation approach, the proposed method innovatively estimates the ULM by modelling surrounding DV. Then the authors propose to correlate the ULM with the detected DV and convergence feature of matching algorithm. From the evaluated real-data in an intersection area with dense traffic, the proposed method has exhibited the feasibility of estimating the ULM accurately.
ISSN: 0013-5194
EISSN: 1350-911X
DOI: 10.1049/el.2018.8075
Rights: © The Institution of Engineering and Technology
This paper is a postprint of a paper submitted to and accepted for publication in IET Electronics Letters and is subject to Institution of Engineering and Technology Copyright. The copy of record is available at the IET Digital Library.
The following publication Wen, W., Bai, X., Zhan, W., Tomizuka, M., & Hsu, L. T. (2019). Uncertainty estimation of LiDAR matching aided by dynamic vehicle detection and high definition map. IET Electronics letters, 55(6), 348-349 is available at
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