| Title: |
PML-SLAM: a solution for localization in large-scale urban environments |
| Authors: |
Alsayed, Zayed; Bresson, Guillaume; Nashashibi, Fawzi; Verroust-Blondet, Anne |
| Contributors: |
Robotics & Intelligent Transportation Systems (RITS); Inria Paris-Rocquencourt; Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria); VEhicule DEcarboné et COmmuniquant et sa Mobilité (VeDeCom) |
| Source: |
PPNIV - IROS 2015 ; https://hal.archives-ouvertes.fr/hal-01202038 ; PPNIV - IROS 2015, Sep 2015, Hambourg, Germany |
| Publisher Information: |
HAL CCSD |
| Publication Year: |
2015 |
| Collection: |
Archive ouverte HAL (Hyper Article en Ligne, CCSD - Centre pour la Communication Scientifique Directe) |
| Subject Terms: |
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] |
| Subject Geographic: |
Hambourg; Germany |
| Description: |
International audience ; Localization is considered a key factor for autonomous cars. In this paper, we present a complete Simultaneous Localization And Mapping (SLAM) solution. This algorithm is based on probabilistic maximum likelihood framework using grid maps (the map is simply presented as a grid of occupancy probabilities). The solution mainly solve three renowned localization problems (1. localization in unknown environment, 2. localization in a pre-mapped environment and 3. recovering the localization of the vehicle). Memory issues caused by the open size of outdoor environment are solved using an optimized management strategy that we propose. This strategy allows us to navigate smoothly while saving and loading probabilities-grid submaps into/from a hard-disc in a transparent way. We present the results of our solution using our own experimental dataset as well as the KITTI dataset. |
| Document Type: |
conference object |
| Language: |
English |
| Relation: |
hal-01202038; https://hal.archives-ouvertes.fr/hal-01202038; https://hal.archives-ouvertes.fr/hal-01202038/document; https://hal.archives-ouvertes.fr/hal-01202038/file/PML-SLAM_7PPNIV2015.pdf |
| Availability: |
https://hal.archives-ouvertes.fr/hal-01202038; https://hal.archives-ouvertes.fr/hal-01202038/document; https://hal.archives-ouvertes.fr/hal-01202038/file/PML-SLAM_7PPNIV2015.pdf |
| Rights: |
info:eu-repo/semantics/OpenAccess |
| Accession Number: |
edsbas.291C4FB2 |
| Database: |
BASE |