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Home > Archive>Volume 49, Issue 7, 2021 >1029-1038. DOI:10.11908/j.issn.0253-374x.20464
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Lidar-based Localization Algorithm of Vehicle in Parking Lot
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1.School of Automotive Studies， Tongji University， Shanghai 201804， China;2.Chinesisch-Deutsche Hochschule， Tongji University， Shanghai 201804， China

Clc Number:

U469.79

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    Abstract:

    Under the limit of car localization sensors such as GPS and Wi-Fi in parking lots and tunnels， an autonomous self-localization method of vehicle based on lidar is proposed. The lidar simultaneous localization and mapping （SLAM） algorithm is used to obtain the estimated pose of vehicle through three-dimensional lidar point cloud matching， and all poses are adjusted according to the graph optimization method and the nonlinear optimization method. Then， a planar grid map of environmental information with controllable resolution is obtained. Based on the Monte Carlo method， a particle filter is adopted for real-time vehicle localization， and an improved method of particle sampling is proposed to achieve real-time high-precision autonomous localization of vehicle. Experimental results show that the particle filter can effectively realize the localization of vehicles in parking lot and other non-GPS environments， and the localization accuracy is within 10 cm.

    Reference
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ZHOU Su, LI Weijia, GUO Junhua. Lidar-based Localization Algorithm of Vehicle in Parking Lot[J].同济大学学报(自然科学版),2021,49(7):1029~1038

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History
  • Received:November 08,2020
  • Online: July 29,2021
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