Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/80397
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 |
Issue Date: | 21-Mar-2019 | Source: | Electronics letters, 21 Mar. 2019, p. 348-349 | 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. | Keywords: | Road vehicles Hessian matrices Traffic engineering computing Optical radar Object detection Image matching |
Publisher: | Institution of Engineering and Technology | Journal: | Electronics letters | 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 https://dx.doi.org/10.1049/el.2018.8075 |
Appears in Collections: | Journal/Magazine Article |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
Postprint_Uncertainty_Estimation_LiDAR_Matching.pdf | 947.27 kB | Adobe PDF | View/Open |
Page views
327
Last Week
0
0
Last month
Citations as of Apr 14, 2024
Downloads
361
Citations as of Apr 14, 2024
SCOPUSTM
Citations
18
Citations as of Apr 19, 2024
WEB OF SCIENCETM
Citations
13
Last Week
0
0
Last month
Citations as of Apr 18, 2024
Google ScholarTM
Check
Altmetric
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.